Trial Operation For Mechatrolink-Ii Communications; Preparations For Trial Operation - YASKAWA MECHATROLINK Sigma 2 Series User Manual

5.2

Trial Operation for MECHATROLINK-II Communications

This section describes the trial operation procedure for MECHATROLINK-II communications.
5.2.1

Preparations for Trial Operation

To prevent accidents, initially conduct trial operation with no load connected to the servomotor. Before
IMPORTANT
starting operation with a connected load, make sure emergency-stop procedures are in place.
Prepare for operation using the following procedure.
1. Check that wiring has been performed correctly and then connect the signals (CN1 con-
2. Turn ON the power.
3. Send the CONNECT (start connection) command to start communications.
4. Confirm the model number using the ID_RD (Read ID) command.
5. Write the parameters necessary for trial operation using the PRM_WR (Write Parame-
6. Execute the SV_ON (Servo ON) command. The power circuit in the SERVOPACK will
nector).
If power is being supplied correctly, the CHARGE or POWER indicator on the
SERVOPACK and the R indicator on the NS115 will light.
If the R indicator on the NS115 does not light, check to make sure the switches on the
NS115 (SW1 and SW2) are set correctly and then turn the power OFF then ON again.
For information on switch settings, refer to 4.2 Switches for MECHATROLINK-II Com-
munications Settings.
The status of the SERVOPACK can be checked using the SMON (Status Monitoring)
command. The response data from the SERVOPACK will be alarm code 99 (normal).
∗∗∗
"SGDH- E" will be returned from the SERVOPACK.
Alternatively, for the NS115, "JUSP-NS115" will be returned.
ter) command.
Refer to 5.4.1 Minimum Parameters and Input Signals, for information on the neces-
sary preparations.
be activated and the servomotor will be ready to operate. At this point, SVON = 1 (base
block currently being released) in STATUS will be returned.
5-3

5.2 Trial Operation for MECHATROLINK-II Communications

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