Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands Uživatelský manuál Strana 42
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3.2 Commands Details
3-11
3
Commands for Preparation Process
(2) Device ID Specifications
The specifications of the device ID are described below.
When the Σ-V Series SERVOPACKs (SGDV-A11, -A15, -D11,
-D15, -F11, -F15) are Used
• SERVOPACK Model
*1: Model code, *2: Current capacity, *3: Power supply voltage specifications, *4: Interface specifications,
*5: Design revision order, *6: Options
• Servomotor Model
*7: Model code, *8: Rated output, *9: Power supply voltage, *10: Encoder type, *11: Design revision order,
*12: Shaft-end specifications, *13: Options
• Software version is binary data.
• Model is expressed in ASCII code and “00 (NULL)” is added at the end of each character string.
• 50H and 52H of DEVICE_CODE are reserved for system.
• When the Safety Option unit or/and Feedback Option unit are not connected, 0 is set to all the ID data.
• For an external encoder, the ID of the encoder connected to the Feedback Option unit is set.
(Therefore, 0 is set to all the ID data when no Feedback Option unit is connected.)
• When an encoder option for fully-closed loop control is connected to the Feedback Option unit, 0 is set to all
the ID data of Feedback Option unit.
Device Type/Name
DEVICE_
CODE
OFFSET
00 01 02 03 04 05 06 07 08 09 0A 0B 0C 0D 0E 0F 10 11 12
SERVOPACK
Model 00H S G D
∗
1
∗
1
∗
2
∗
2
∗
2
∗
3
∗
4
∗
4
∗
5
∗
6
∗
6
∗
6
∗
6
∗
6
∗
6
00
Software
version
02H Ver.
Servomotor
Model 20H S G M
∗
7
∗
7
–
∗
8
∗
8
∗
9
∗
10
∗
11
∗
12
∗
13
00
Encoder
software
version
12H Ver.
External
Encoder
Model 30H
Software
version
32H Ver.
Safety Option
Unit
Model 60H
Software
version
62H Ver.
Feedback
Option Unit
Model 70H
Software
version
72H Ver.
- 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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