Turn Sensor On Command (Sens_On: 23H) - YASKAWA S-7 Series Command Manual

3.2 Servo Commands

3.2.4 Turn Sensor ON Command (SENS_ON: 23h)

3.2.4

Turn Sensor ON Command (SENS_ON: 23h)

Data Format
Phases in which the
Command can be Executed
Processing Time
Byte
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
3-30
2, 3
Within 2 s
SENS_ON
Command Response
23h 23h
WDT RWDT
CMD_CTRL CMD_STAT
SVCMD_CTRL SVCMD_STAT
SVCMD_IO SVCMD_IO
CPRM_SEL_
MON1
CPRM_SEL_
MON2
Reserved MONITOR1
MONITOR2
MONITOR3
Command Common
command
Classification
Subcommand
Description
• The SENS_ON command is the sensor information ini-
tialization request command. It initializes the sensor.
• Confirm the completion of the command execution by
checking that RCMD = SENS_ON (= 23h) and
CMD_STAT.CMDRDY = 1.
• CPRM_SEL_MON1/CPRM_SEL_MON2:
Monitor data can be selected by changing the common
parameter setting. Refer to the following chapter for
details.
Chapter 8 Common Parameters.
• When an absolute encoder is used, the initial position is
acquired from the encoder.
The current position is taken to be: acquired encoder
position + zero point position offset (common parame-
ter 23).
The coordinate reference point setting is confirmed and
the ZPOINT (zero point position) and software limit
become effective.
• When an incremental encoder is used, only a response
is returned without processing.
Asynchronous
command
Cannot be used