Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands Uživatelský manuál stáhnout pdf (Strana 17)

1.4 Data Order

1-9

MECHATROLINK-II Commands

1.4 Data Order

Data in MECHATROLINK-II commands and responses is stored in little endian byte order.

For example, 4-byte data “0x1234ABCD” in hexadecimal is stored from the least significant byte as shown

below.

Byte Data

1CD

2AB

334

412

1 2 ... 12 13 14 15 16 17 18 19 20 21 22 ... 141 142

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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