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3.2.7
Servo ON Command (SV_ON: 31h)
Data Format
Phases in which the
Command can be Executed
Processing Time
Byte
Command
0
1
2
CMD_CTRL
3
4
5
SVCMD_CTRL
6
7
8
9
SVCMD_IO
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
2, 3
Normally 50 ms
(10 s max.)
SV_ON
Response
31h
31h
WDT
RWDT
CMD_STAT
SVCMD_STAT
SVCMD_IO
CPRM_SEL_
MON1
CPRM_SEL_
MON2
Reserved
MONITOR1
MONITOR2
MONITOR3
3.2.7 Servo ON Command (SV_ON: 31h)
Command
Servo standard
Classification
command
Subcommand
Description
• The SV_ON command supplies the power to the servo-
motor and makes it ready for operation.
• Confirm the completion of the command execution by
checking that RCMD = SV_ON (= 31h) 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.
• To establish the servo ON state after a warning has
occurred, send a command other than SV_ON, such as
the SV_OFF command, and then send the SV_ON com-
mand.
• Upon completion of execution of this command, the ref-
erence position (CPOS) must be read, and the controller
coordinate system must be set up.
• Confirm that M_RDY = 1 before sending this command.
In the following cases, Ah (A.95A) will be set for
CMD_ALM and the command will not be executed.
• When an alarm (COM_ALM = 8h or greater, or D_ALM =
1) has occurred
• When PON = 0
• When the execution of the SENS_ON command has not
completed with an absolute encoder used
• When ESTP (HWBB signal off) = 1
• When parameters have been initialized
3.2 Servo Commands
Asynchronous
command
Can be used
3
3-33
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