Supported Synqnet Features; Cyclic Commands; Cyclic Responses - YASKAWA SGMAS User Manual

6 SynqNet™ Communications

6.4.1 Cyclic Commands

6.4 Supported SynqNet Features

The SGDS SynqNet SERVOPACK performs cyclic operations. Commands are sent and responses are retrieved
during every control cycle.
The following sections list the supported SynqNet functions.

6.4.1 Cyclic Commands

All cyclic commands are executed every control cycle.
(1) Torque
Sets torque value. Scale: 10,000 units = 100% rated torque.
(2) Amp Enable/Disable
Sets servo to enabled or disabled state.

6.4.2 Cyclic Responses

All cyclic responses are received every control cycle and are available in the node response buffer.
(1) Drive Ready
Shows that communications are active. Valid at all times.
(2) Encoder Ready
Shows that the serial encoder is communicating correctly in synchronous mode. Valid when the Drive Ready
response appears.
(3) Amp Powered
Shows that motor voltage is available to drive the servo. Valid when the Drive Ready response appears.
(4) Servo ON
Shows that servo is enabled or disabled. Will not be set if drive is disabled either by turning the PWM off or by
dynamic braking. Valid when Drive Ready is set.
(5) Torque Limit
Shows that the Torque Reference is over the Torque Limit. Valid when the Drive Ready response appears.
(6) Warning
Warns that precautions must be taken to prevent a fault or error. Valid at all times.
(7) Fault
Shows that a fault has shut down the amplifier. To determine the fault cause, the error code needs to be read using
a memory operation. Valid at all times.
(8) Position Feedback
Returns a 32-bit position value at every control cycle.
(9) Monitor_A / Torque Echo
Shows that the torque value at every control cycle is returned.
(10) Monitor_C / Multi-turn Data
Returns a 16-bit multi-turn data value.
6-10