Machine Rigidity Settings For Online Autotuning - YASKAWA MECHATROLINK Sigma 2 Series User Manual

Appendix C Using the Adjusting Command (ADJ: 3EH)
C.1.2 Machine Rigidity Settings for Online Autotuning
INFO
INFO
Changing the Machine Rigidity Setting
The machine rigidity setting is changed using the Adjusting command (ADJ: 3EH).
The procedure for making changes is shown below.
It is also possible to use a Digital Operator to change settings. Refer to the Σ-
User's Manual (SIEPS80000005).
1. By setting byte 1 of the MECHATROLINK-II command field to ADJ (3EH) and byte 2
to 00H, the following command field can be set.
Command
5 CCMD
6 CADDRESS
7
8 CDATA
9
2. Send the following data setting commands in each command field.
Set "01H" (Data setting) in the CCMD field.
Set "2003H" in the CADDRESS field.
Set 1 to 10 in the CDATA field.
3. After setting the data, send the command. Approximately one second after sending, con-
firm that the response is correct and that CMDRDY of STATUS is set to 1. It takes one
second max. after sending for the setting to be completed.
4. Use the following data reference command to check when settings have been com-
pleted.
Set "00H" (Data reference) in the CCMD field.
Set "2003H" in the CADDRESS field.
5. After setting the data, send the command. Confirm that the response is correct and that
CMDRDY or STATUS is set to 1. Confirm that the value of the CDATA field in the
response field is the machine rigidity you set.
If a response is returned with the rigidity setting that is being made, the rigidity setting
has been completed.
This completes changing the machine rigidity setting using online autotuning.
Confirm that the following items are correct in the response:
• CCMD in the command and CANS in the response are the same.
• CADDRESS is the same in the command and response. (When written, confirm that CDATA is
the same in the command and response.)
• The alarm and warning bits in STATUS are 0.
Response
CANS
CCMD: Command
CANS: Answer
CADDRESS
CADDRESS: Setting/reference address
CDATA: Setting/reference data
CDATA
C-6
ΙΙ
Series SGM H/SGDH