YASKAWA SGD7S-1R9D Product Manual page 451

14.5 Manufacturer-Specific Objects
 Executable Adjustment Services
Adjustment Service
Absolute Encoder Reset
Autotune Motor Current
Detection Signal Offset
Multiturn Limit Setting
Software Reset*
*
EtherCAT (CoE) communications will be disconnected after the software is reset. Repeat the operation sequence
and establish communications again. Refer to the following sections for precautions required when resetting the
software.
6.10 Software Reset
 How to Send a Command for Adjustment
To execute the adjustment service, use the following procedure to send the adjustment com-
mand. Step 4 is not required when the software is reset.
1.
Send the following data and set the request code for the adjustment service to execute.
CCMD = 0001 hex
CSIZE = 02 hex
CADDRESS = 00002000 hex
CDATA = Request code of the adjustment service to execute*
If the slave station receives the command normally, the status field will be set to 1.
If an error occurs, perform step 4 to stop execution.
2.
For an adjustment that requires preparations, send the following data.
If preparations before execution are not required, perform step 3.
CCMD = 0001 hex
CSIZE = 02 hex
CADDRESS = 00002001 hex
CDATA = 0002 hex
If the slave station receives the command normally, the status field will be set to 1.
If an error occurs, perform step 4 to stop execution.
3.
Send the following data to execute the adjustment service.
CCMD = 0001 hex
CSIZE = 02 hex
CADDRESS = 00002001 hex
CDATA = 0001 hex
If the slave station receives the command normally, the status field will be set to 1.
If an error occurs, perform step 4 to stop execution.
4.
Send the following data to stop execution.
CCMD = 0001 hex
CSIZE = 02 hex
CADDRESS = 00002000 hex
CDATA = 0000 hex
If the slave station receives the command normally, the status field will be set to 1.
Note: If no command is received within 10 seconds after step 1, the adjustment service will be automatically
14-20
Request
Code
1008 hex Required
100E hex Not required
1013 hex Required
2006 hex Not required
*
Select the request code from the table in
stopped.
Preparation
Processing
before
Time
Execution
5 s max.
5 s max.
5 s max.
5 s max.

Executable Adjustment Services on page 14-20.
Execution Conditions
If an incremental encoder is used, it is
not possible to reset the encoder
while the servo is ON.
Adjustment is disabled in the follow-
ing cases.
• While the main circuit power supply
is OFF
• While the servo is ON
• While the Servomotor is not
stopped
If an incremental encoder is used, the
setting is disabled unless a Multiturn
Limit Disagreement alarm has
occurred.
The software cannot be reset in the
following cases.
• While the servo is ON
• While the Servomotor is not
stopped