Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands Instrukcja Użytkownika Pobierz pdf (Strona 26)

2.2 Operation Sequence for Managing Parameters Using a Controller

2-9

Operation Sequence

2.2 Operation Sequence for Managing Parameters Using a

Controller

When the parameters are managed by a controller, the parameters are automatically transmitted from the con-

troller to the SERVOPACK when the power is turned ON. Therefore, the settings of SERVOPACK do not

need to be changed when the SERVOPACK is replaced.

∗ If the connection cannot be released normally, send DISCONNECT command for 2 or more communications cycles,

and then send CONNECT command.

Procedure Operation Command to Send

1 Turn on the control and main circuit power supplies. NOP

2 Reset the previous communications status.

DISCONNECT

3 Establish communications connection and starts WDT count. CONNECT

4 Check information such as device ID. ID_RD

5 Get device setting data such as parameters. PRM_RD, ADJ

6 Set the parameters required for device. PRM_WR

7 Enable the parameter settings (Setup). CONFIG

8 Turn the encoder power supply to the position data. SENS_ON

9 Turn the servo on. SV_ON

10 Start operation. –

11 Turn the servo off. SV_OFF

12 Disconnect the communications connection. DISCONNECT

13 Turn the control and main circuit power supplies. –

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Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands Instrukcja Użytkownika Strona 26