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YASKAWA Sigma-5 User Manual: MECHATROLINK-II Commands manuals

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Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands User Manual (142 pages)


Brand: Yaskawa | Category: Equipment | Size: 1.35 MB |

 

Table of contents

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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