Trial Operation With Mechatrolink-Iii Communications - YASKAWA SGD7S Product Manual

7.4 Trial Operation with MECHATROLINK-III Communications

7.4

Trial Operation with MECHATROLINK-III Communications

A trial operation example for MECHATROLINK-III communications is given below.
Refer to the following manual for command details.
Σ-7-Series MECHATROLINK-III Communications Standard Servo Profile Command Manual (Manual No.: SIEP
S800001 31)
1.
Confirm that the wiring is correct, and then connect the I/O signal connector (CN1 con-
nector).
Refer to the following chapter for details on wiring.
2.
Turn ON the power supplies to the SERVOPACK and host controller.
If control power is being supplied correctly, the PWR indicator on the SERVOPACK will light.
If main circuit power is being supplied correctly, the CHARGE indicator on the SERVOPACK will light.
If communications are established, the L1 or L2 indicators, whichever one corresponds to the CN6A
or CN6B connector where the MECHATROLINK-III cable is connected, will light. If the L1 or L2 indi-
cator does not light, recheck the settings of MECHATROLINK-III setting switches (S1, S2, and S3)
and then turn the power supply OFF and ON again.
3.
Send the CONNECT command from the host controller.
If the SERVOPACK correctly receives the CONNECT command, the CN indicator will light.
If the CN indicator does not light, the settings of the CONNECT command are not correct. Correct
the settings of the CONNECT command, and then send it from the host controller again.
4.
Confirm the product model with the ID_RD command.
The SERVOPACK will return the product model (example: SGD7S-R90A20A).
5.
Set the following items, which are necessary for trial operation.
Electronic Gear
Motor Direction
Overtravel
6.
Save the settings that you made in step 5.
If the settings are saved in the host controller, use the SVPRM_WR command with the mode set to
RAM to save them.
If the settings are saved in the SERVOPACK, use the SVPRM_WR command with the mode set to
non-volatile memory to save them.
7.
Send the CONFIG command to enable the settings.
8.
Send the SENS_ON command to obtain the position information (encoder ready).
9.
Send the SV_ON command.
Servomotor operation will be enabled and the SERVOPACK will return 1 for SVON (power supplied to
motor) in the status.
10.
Operate the Servomotor at low speed.
Operating Example for a Positioning Command
Command: POSING
Command settings: Positioning position = 10,000 (If you are using an absolute encoder, add 10,000
to the present position), rapid traverse speed = 400.
7-10
Chapter 4 Wiring and Connecting SERVOPACKs
Setting
5.15 Electronic Gear Settings on page 5-41
5.5 Motor Direction Setting on page 5-15
5.11 Overtravel and Related Settings on page 5-27
Reference