Servo On (Sv_On: 31H) - YASKAWA MECHATROLINK Sigma 2 Series User Manual

4.3.22

Servo ON (SV_ON: 31H)

Byte SV_ON
Command
1 31H
2
3 OPTION
4
5
6
7
8
9
10
11
12
13 SEL_MON 1/2 SEL_MON 1/2
14
15
16 WDT
17 For For
subcommands subcommands
18
use. Refer to use. Refer to
19
4.4 Subcom- 4.4 Subcom-
mands. mands.
20
21
22
23
24
25
26
27
28
29
Response
31H Processing
classifications
ALARM Processing time
STATUS • The SERVOPACK changes to Servo ON.
• Can be used during phases 2 and 3.
• A MECHATROLINK-II command warning (A.95) will occur and the com-
MONITOR1
mand will be ignored in the following cases.
- During phase 1
- During alarm occurrence (when ALM of STATUS is 1)
- If SENS_ON has not been completed when the absolute encoder is
used
• OPTION can be selected. Refer to 4.5.2 Option Field Specifications:
MONITOR2
OPTION for details.
• For linear motors not equipped with a pole sensor, it takes 10 seconds max.
until the SERVOPACK changes to Servo ON the first time because the pole
must be detected.
• Upon completion of this command, the reference position (POS) must be read,
and the controller coordinate system must be set up.
IO_MON
RWDT
4-29
Description
Control com- Synchronization
mand group classifications
Within 50 ms nor- Subcommand
mally
4.3 Main Commands
Asynchronous
Can be used.
4