Absolute Encoder Setup (Initialization - YASKAWA MECHATROLINK Sigma 2 Series User Manual

C.2 Absolute Encoder Setup (Initialization)
The Adjusting (ADJ: 3EH) command can be used to setup (initialize) the absolute encoder.
The setup procedure is outline below.
Be sure to turn the power OFF then ON again after the encoder setup.
INFO
1. By setting byte 1 of the MECHATROLINK-II command field to ADJ (3EH) and byte 2
2. Send the following data setting commands in each command field.
3. After setting the data, send the command.
4. Continue by using the following data setting command.
5. After setting the data, send the command.
6. Send the following command.
7. After setting the data, send the command. Approximately 2 seconds after sending, con-
This completes setting up the absolute encoder. Turn the power OFF then ON again to con-
firm that the SERVOPACK will start up normally.
to 00H, the following command field can be set.
Command
5 CCMD
6 CADDRESS CADDRESS
7
8 CDATA
9
Set "01H" (Data setting) in the CCMD field.
Set "2000H" in the CADDRESS field.
Set "1008H" in the CDATA field.
Confirm that the response is correct and that CMDRDY of STATUS is set to 1.
The absolute encoder will enter the Setup Mode.
Set "01H" (Data setting) in the CCMD field.
Set "2001H" in the CADDRESS field.
Set "02H" (Save) in the CDATA field.
Confirm that the response is correct and that CMDRDY of STATUS is set to 1.
Set "01H" (Data setting) in the CCMD field.
Set "2001H" in the CADDRESS field.
Set "01H" (Execute) in the CDATA field.
firm that the response is correct and that CMDRDY of STATUS is set to 1.
C-11
C.2 Absolute Encoder Setup (Initialization)
Response
CANS
CCMD: Serial communications command
CANS: Serial communications answer
CADDRESS: Setting/reference address
CDATA: Setting/reference data
CDATA
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