Operation Sequence When Turning The Servo On - YASKAWA S-7 Series Command Manual

5.4 Operation Sequence when Turning the Servo ON

5.4

Operation Sequence when Turning the Servo ON

Motor control using a host controller is performed using motion commands only in the servo
ON state (motor power ON).
In the servo OFF state (when the power to the motor is shut OFF), the SERVOPACK manages
position data so that the reference coordinate system (CPOS, MPOS) and the feedback coordi-
nate system (APOS) are equal. For correct execution of motion commands, therefore, it is nec-
essary to use the SMON (status monitoring) command after the servo ON state has been
established, to read the servo reference coordinates (CPOS) and send an appropriate reference
position. Set the coordinate system of the SERVOPACK using the POS_SET command as nec-
essary.
After completing the setting of the coordinate systems, carry out machine operation using
motion commands.
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