Operation Sequence When Being Servo On - YASKAWA MECHATROLINK Sigma 2 Series User Manual

Proce- Item
dure
1 Turn ON control and main cir-
cuit power supplies.
2 Establish connection.
3 Check information such as
device ID.
4 Turn ON encoder.
5 Operate main circuit.
6
Start operation.
.
.
.
7 Turn OFF main circuit.
8 Disconnect connection.
9 Turn OFF control and main
circuit power supplies.
* If communication disconnects normally, the NOP command is sent. If communication does not
disconnect normally, the DISCONNECT command is sent for two or more communications
cycles prior to connection, then the CONNECT command is sent.
4.7.3

Operation Sequence When Being Servo ON

Motor control using a host controller is performed using motion commands only while the
SERVOPACK is Servo ON (while current flows to the motor). While the SERVOPACK is
Servo OFF (while current to the motor is interrupted), control is performed by the
SERVOPACK so that the reference coordinate system (POS, MPOS) and FB coordinate sys-
tem (APOS) are equal. In order to send appropriate motion commands, it is necessary to use
the SMON command after the SERVOPACK changes to Servo ON to read the Servo refer-
ence coordinate (POS) and send an appropriate reference position.
Table 4.6 Step 2: Ordinary Operation Sequence
Command
NOP/DISONNECT*
CONNECT
ID_RD
SENS_ON
SV_ON
.
.
.
SV_OFF
DISCONNECT
−
4-65
4.7 Operation Sequence
Description
Turn ON power supplies.
Establish communications.
Start the WDT count.
Read information such as device
type.
Turn ON encoder and obtain the
position data.
Change to Servo ON.
Start operation.
.
.
.
Change to Servo OFF.
Disconnect communications.
Turn OFF power supplies.
Phase
1
2 or 3
2 or 3
2 or 3
2 or 3
2 or 3
2 or 3
4 to 1 4
5