Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands Manual de usuario Pagina 62
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3.2 Commands Details
3-31
3
Commands for Preparation Process
3.2.18 Monitor and Adjust Settings (ADJ: 3EH)
Send an ADJ command to monitor and adjust settings.
(1) ADJ Command (3EH)
The specifications of the ADJ command are described below.
(2) How to Send an ADJ Command for Adjustment
The table below lists the adjustments that can be executed by sending an ADJ command.
Byte ADJ
Description
Command Response
1 3EH 3EH
Phases in
which the
command can
be executed
Phase 2 and 3
Synchronization
classification
Asynchronous
command
2 SUBCODE=01 ALARM
Processing
time
Depends on pro-
cessing
Subcommand Cannot be used
3
STATUS
• Use this command as SUBCODE = 01H.
The SERVOPACK will be in maintenance mode.
And, data monitoring and adjustment will be enabled.
•See (2) How to Send an ADJ Command for Adjustment for details on
ADJ for adjustment.
•See (3) How to Send an ADJ Command for Monitoring Data for details
on ADJ for monitoring data.
• A warning will occur and the command will be ignored in the following
cases.
- While editing using SigmaWin or digital operator: Command warning
1 (A.95A)
- CADDRESS is out of the range: Parameter setting warning 1 (A.94A)
- CSIZE does not match: Parameter setting warning 4 (A.94D)
- CCMD and/or CDATA are out of the range: Parameter setting warning
2 (A.94B)
4
5
CCMD CANS
6
7
CADDRESS CADDRESS
8
9
CSIZE
CSIZE/
ERRCODE
10
11
CDATA RDATA
12
13
14
15
16 WDT RWDT
List of Executable Adjustments
Adjustment
Request
Code
Preparation
Before
Execution
Processing
Time
Execution Conditions
Normal mode 0000H None 200 ms max. –
Parameter initialization 1005H None 20 s max.
Initialization is impossible while the servo
is ON.
After initialization, the power supply must
be turned OFF and then ON again.
Absolute encoder reset 1008H Required 5 s max.
When using an incremental encoder, it is
impossible to reset the encoder while the
servo is ON.
After initialization, the power supply must
be turned OFF and then ON again.
Automatic offset adjustment
of motor current detection sig-
nals
100EH None 5 s max.
Adjustment is disabled:
• While the main circuit power supply is
OFF
• While the servo is ON
• While the servomotor is running
- Σ-V Series 1
- About this Manual 3
- Warranty 4
- (3) Suitability for Use 5
- (4) Specifications Change 5
- Contents 6
- 1.1.1 Layers 10
- 1.1.2 Frame Structure 10
- MECHATROLINK-II Commands 11
- 1.1.4 Terminology 12
- 1 MECHATROLINK-II Commands 14
- 1.4 Data Order 17
- Operation Sequence 18
- 2.1 Preparing for Operation 19
- Setting the Station Address 20
- 2 Operation Sequence 21
- -J11) are Used 23
- (1) Operation Procedure 25
- Controller 26
- 2.3.1 Setup Sequence 27
- POS: Reference position 31
- 3.2.1 No Operation (NOP: 00H) 34
- (4) Details WDT and RWDT 36
- (1) DISCONNECT Command (0FH) 37
- (1) CONNECT Command (0EH) 38
- (2) Details of COM_MOD 39
- (1) SYNC_SET Command (0DH) 40
- (1) ID_RD Command (03H) 41
- (2) Device ID Specifications 42
- ID_RD aSGDV2R9E11A00 43
- ID_RD bSGDV131J11A00 44
- (1) PRM_WR Command (02H) 45
- (1) PPRM_WR Command (1CH) 46
- (1) CONFIG Command (04H) 47
- (1) SENS_ON Command (23H) 48
- • Applicable Commands: 50
- (1) SV_ON Command (31H) 51
- 3.2 Commands Details 52
- (1) SENS_OFF Command (24H) 54
- (1) SV_OFF Command (32H) 55
- (1) PRM_RD Command (01H) 56
- (1) SMON Command (30H) 57
- (1) ALM_RD Command (05H) 58
- (2) ALM_RD_MOD Specifications 59
- (1) ALM_CLR Command (06H) 60
- (1) POS_SET Command (20H) 61
- (2) PS_SUBCMD Specifications 61
- (1) ADJ Command (3EH) 62
- C01EH reference value 65
- C021H reference value 65
- Motion Commands for Operation 66
- 4.1 Motion Commands List 67
- 4.2.1 Stop Motion (HOLD: 25H) 68
- (2) Related Parameters 69
- (1) LTMOD_ON Command (28H) 70
- (2) Normal Latch Mode 70
- (3) Continuous Latch Mode 71
- (4) LT_SGNL Specifications 72
- (5) Related Parameters 72
- (1) LTMOD_OFF Command (29H) 73
- (1) INTERPOLATE Command (34H) 74
- (1) POSING Command (35H) 76
- (1) FEED Command (36H) 78
- (1) LATCH Command (38H) 80
- (1) EX_POSING Command (39H) 82
- (2) Operation 83
- (3) Related Parameters 83
- 4.2.9 Homing (ZRET: 3AH) 84
- (1) VELCTRL Command (3CH) 86
- Before soft-start 87
- After soft-start 87
- Max. motor speed 87
- Pn305 Pn306 87
- (1) TRQCTRL (3DH) 88
- (2) Speed Limit Option 1 89
- (3) Speed Limit Option 2 89
- 5.2.1 Electronic Gear Setting 93
- Position 94
- (2) Position Reference Filter 96
- 5.2.3 Motion Sequence Setting 99
- 5.2.4 Command Data Options 100
- 5 Command Related Parameters 101
- 5.2.4 Command Data Options 101
- (4) OPTION Field Allocation 102
- (1) Latching Allowable Area 104
- (2) Continuous Latch Function 104
- Command Related Parameters 106
- NEAR Signal Width Setting 111
- (3) Option Monitor Setting 113
- MECHATROLINK-II Subcommands 114
- 6.2.1 No Operation (NOP: 00H) 115
- Data Field 120
- 7.1 Main Command Data Field 121
- (1) Applicable Commands 123
- (2) Setting Method 125
- Applicable Commands 126
- 7.1.6 LT_SGNL Specifications 128
- 7.2 Substatus Data Field 129
- Communications or Commands 130
- 8.1 List of Alarms 131
- 8.1 List of Alarms 132
- 8.2 List of Warnings 133
- 8.2 List of Warnings 134
- Appendix 136
- A Brake Control Commands 137
- • Sub-control (SUBCTRL) 139
- Select Motion (MOTION) 140
- Select Latch Signal (L_SGN) 140
- • Sequence Signals: SQ_CMD 140
- Revision History 141
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