YASKAWA S-7 Series Command Manual page 26

4.4
4.5
4.6
4.7
4.8
4.9
5
5.1
5.2
5.3
5.4
5.5
5.6
5.7
5.8
5.9
6
6.1
6.2
6.3
xxvi
Clear Alarm or Warning Subcommand (ALM_CLR: 06h) . . . . . . 4-5
Read Memory Subcommand (MEM_RD: 1Dh) . . . . . . . . . . . . . . 4-6
Write Memory Subcommand (MEM_WR: 1Eh) . . . . . . . . . . . . . . 4-7
Servo Status Monitor Subcommand (SMON: 30h) . . . . . . . . . . . 4-8
Read Servo Parameter Subcommand (SVPRM_RD: 40h) . . . . . 4-9
Write Servo Parameter Subcommand (SVPRM_WR: 41h) . . . . 4-10
Operation Sequence
Preparing for Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5.1.1 Setting MECHATROLINK-III Communications . . . . . . . . . . . . . . . . . . . . . . .5-2
5.1.2 Checking the Communications Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-4
Parameter Management and Operation Sequence . . . . . . . . . . 5-6
5.2.1 Operation Sequence for Managing Parameters Using a Controller . . . . . . . .5-6
5.2.2 Operation Sequence for Managing Parameters Using a SERVOPACK . . . . .5-7
Setting the Zero Point before Starting Operation . . . . . . . . . . . 5-8
Operation Sequence when Turning the Servo ON . . . . . . . . . . . 5-9
Operation Sequence when OT (Overtravel Limit Switch) Signal is Input . . 5-10
Operation Sequence at Emergency Stop (Main Circuit OFF). . 5-11
Operation Sequence when a Safety Signal is Input . . . . . . . . . 5-12
Operation Sequence at Occurrence of Alarm . . . . . . . . . . . . . 5-14
Notes when the Positioning Completed State (PSET = 1) is Established while Canceling a Motion Command . . 5-15
Function/Command Related Parameters
Position Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
6.1.1 Interpolation Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-2
6.1.2 Positioning Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-2
Torque Limiting Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
Torque Feedforward Function . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
6.3.1 Relationship between the Host Controller and SERVOPACK . . . . . . . . . . . .6-7
6.3.2 Setting Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-8