Set Up Device (Config: 04H) - YASKAWA MECHATROLINK Sigma 2 Series User Manual

4 MECHATROLINK-II Communications

4.3.5 Set Up Device (CONFIG: 04H)

4.3.5
Byte
Command
1 04H
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16 WDT
* +α refers to the amount of delay that is set by parameter for turning the Servo OFF during brak-
ing control.

Set Up Device (CONFIG: 04H)

CONFIG
Response
04H Processing
classifications
ALARM Processing time
STATUS • Recalculates all currently set parameters and initializes positions, signals, etc.
• Can be used during phases 2 and 3.
• The SERVOPACK will change to Servo OFF if this command is received
• A warning will occur and the command will be ignored in the following cases.
• The following table shows status and output signal during CONFIG command
• If communications are in progress with a Digital Operator, a command warn-
RWDT
Status and Output Signal during CONFIG Command Execution
Status and
Output Signal
ALM (status)
CMDRDY (status)
Other status
ALARM (code)
ALM
(CN1 output signal)
/S-RDY
(CN1 output signal)
Other output signals
Control com-
mand group
Within 4 s + α
when the SERVOPACK is Servo ON.
- During phase 1: MECHATROLINK-II command warning (A.95)
- If a digital operator is connected: MECHATROLINK-II command warning
(A.95)
- If SigmaWin and so on are connected: MECHATROLINK-II command
warning (A.95)
execution.
ing (A.ED) may occur.
Before CONFIG
Current status
1
Current status
Alarms currently
occurred
Current status
Current status
Current status
4-12
Description
Synchronization
classifications
∗ Subcommand
During CONFIG
Current status Current status
0 1
Not specified Current status
Alarms currently Alarms currently
occurred occurred
Current status Current status
OFF Current status
Not specified Current status
Asynchronous
Cannot be used.
After CONFIG