Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands Uživatelský manuál stáhnout pdf (Strana 64)

3.2 Commands Details

3-33

Commands for Preparation Process

(3) How to Send an ADJ Command for Monitoring Data

The table below lists the data that can be monitored.

ADJ Command Execution Procedure for Monitoring Data:

1. Set the reference address to be monitored, and send the ADJ command.

CCMD = 0003H

CADDRESS = Reference address

When the slave station receives the command normally

CMDRDY of status field will be see to 1. Also

check ERRCODE.

2. When the command transmissi

is completed normally, CDATA of RSP will be read out for CSIZE to

obtain the data.

List of Data that Can be Monitored

Name

Reference

Address

Data

Size

Unit Remarks

Motor capacity

C00FH (Lower-

most)

C010H (Upper-

most)

2 bytes [W]

Motor voltage C011H 2 bytes [V]

Motor rated speed C01CH 2 bytes

Rotary motor: [×10

C01EH reference value

min

-1

]

Linear motor: [×10

C01EH reference value

mm / s]

Motor max. speed C01DH 2 bytes

Rotary motor: [×10

C01EH reference value

min

-1

]

Linear motor: [×10

C01EH reference value

mm / s]

Motor speed exponent C01EH 2 bytes −

Motor rated torque

(force)

C01FH 2 bytes

Rotary servomotor: [×10

C021H reference value

N.m]

Linear servomotor: [×10

C021H reference value

Motor torque (force)

exponent

C021H 2 bytes −

Encoder resolution

C022H (Lower-

most)

C023H (Upper-

most)

2 bytes

Rotary servomotor: [pulse / rev]

Linear servomotor: [pulse / pitch]

Note:

When fully-

closed setting is

enabled

(Pn002.3≠0), the

unit is [pulse /

pitch]

Maximum motor

torque (force) that can

be output

E701H 2 bytes [%]

Motor max. output

speed

C027H 2 bytes

Rotary servomotor: [×10

C01EH reference value

min

-1

]

Linear servomotor: [×10

C01EH reference value

mm / s]

Linear scale pitch E084H 4 bytes

[×10

E 086H reference value

pm / pitch]

For linear servo-

motors only

Linear scale pitch

exponent

E086H 2 bytes −

For linear servo-

motors only

Details of Command to Monitor Data

Command Response

CCMD/CANS CCMD = 03H CANS = 03H (copy of the command)

CADDRESS Reference address Reference address (copy of the command)

CSIZE/

ERRCODE

– (Not required)

At normal reception: SIZE (2 or 4)

At error occurrent: A value other than 2 and 4

CDATA/RDATA – (Not required) Reference data

1 2 ... 59 60 61 62 63 64 65 66 67 68 69 ... 141 142

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