Operation Sequence For Managing Parameters Using Servopack - YASKAWA MECHATROLINK Sigma 2 Series User Manual

4 MECHATROLINK-II Communications

4.7.2 Operation Sequence for Managing Parameters Using SERVOPACK

4.7.2
Proce-
dure
1
3
4
5
6
7
* 1. If communication disconnects normally, the NOP command is sent. If communication does
not disconnect normally, the DISCONNECT command is sent for two or more communica-
tions cycles prior to connection, then the CONNECT command is sent.
* 2. Do not use PRM_WR.
Operation Sequence for Managing Parameters
Using SERVOPACK
The following describes the operation sequence for managing parameters using the non-vol-
atile memory of the SERVOPACK.
As described below, divide the operation into two steps.
Step 1: Saving parameters (during set-up)
Step 2: Ordinary operation sequence
Table 4.5 Step 1: Saving Parameters (During Set-up)
Item
Turn ON control power
NOP/DISCONNECT
supply.
Establish connection. CONNECT
Check information ID_RD
such as device ID.
Set device.
PPRM_WR
Disconnect connection. DISCONNECT
−
Turn OFF control
power supply.
Command
Turn ON power supply.
*1
Establish communications.
Start the WDT count.
Read information such as device type.
Set the necessary parameters such as
*2
offline parameters to non-volatile mem-
ory.
Disconnect communications.
Turn OFF power supply.
4-64
Description Phase
1
2 or 3
2 or 3
2 or 3
4 to 1
5