Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands Manuel d'utilisateur

AC Servo DrivesUSER’S MANUALMANUAL NO. SIEP S800000 54G12345678MECHATROLINK-II CommandsOperation SequenceCommands for Preparation ProcessMotion Comma

1 MECHATROLINK-II Commands1.1.1 Layers1-21.1 MECHATROLINK-II Communications1.1.1 LayersThe MECHATROLINK-II communications layers have functions equi

5.2 Command Related Parameters Details5-115Command Related Parameters5.2.4 Command Data Options(1) Torque (Force) Limiting FunctionThe torque (force)

5 Command Related Parameters5.2.4 Command Data Options5-12[Setting Parameters]Set the following parameters to apply a torque (force) limit from a po

5.2 Command Related Parameters Details5-135Command Related Parameters Internal Speed LimitThis method always limits the servomotor speed to either o

5 Command Related Parameters5.2.4 Command Data Options5-14Note: 1. Do not allocate more than one signal to one bit. If more than one signal is alloc

5.2 Command Related Parameters Details5-155Command Related Parameters5.2.5 Position Data Latch Function SettingThis section describes the parameters

5 Command Related Parameters5.2.5 Position Data Latch Function Setting5-16[How to Start and Stop Continuous Latch Operation]Set the following parame

5.2 Command Related Parameters Details5-175Command Related Parameters[Setting Parameters][Application Notes]1. The minimum interval between latch sig

5 Command Related Parameters5.2.6 Acceleration/Deceleration Parameter High-speed Switching Function5-185.2.6 Acceleration/Deceleration Parameter Hig

5.2 Command Related Parameters Details5-195Command Related Parameters[Setting Procedure]STEP 1:1. Set Pn900 (Parameter Bank Number) to m.2. Set Pn901

5 Command Related Parameters5.2.6 Acceleration/Deceleration Parameter High-speed Switching Function5-20Setting Example 1: Switching three banks of m

1.1 MECHATROLINK-II Communications1-31MECHATROLINK-II Commands1.1.3 State Transition DiagramThe primary (master) and secondary (slave) station state

5.2 Command Related Parameters Details5-215Command Related Parameters5.2.7 STATUS Field and Monitor Related Settings(1) STATUS Field Status Detection

5 Command Related Parameters5.2.7 STATUS Field and Monitor Related Settings5-22 NEAR Signal Width SettingSet the NEAR signal status detection range

5.2 Command Related Parameters Details5-235Command Related Parameters(2) I/O Monitor Field Signal AllocationAllocate CN1 connector input signals to b

5 Command Related Parameters5.2.7 STATUS Field and Monitor Related Settings5-24(3) Option Monitor SettingSet the contents to be monitored when Optio

6-16MECHATROLINK-II Subcommands6MECHATROLINK-II SubcommandsThis chapter describes MECHATROLINK-II subcommands.6.1 MECHATROLINK-II Subcommands List

6 MECHATROLINK-II Subcommands6.2.1 No Operation (NOP: 00H)6-26.1 MECHATROLINK-II Subcommands ListThe MECHATROLINK-II subcommands can be used by spec

6.2 MECHATROLINK-II Subcommands Details6-36MECHATROLINK-II Subcommands6.2.2 Read Parameter (PRM_RD: 01H)6.2.3 Write Parameter (PRM_WR: 02H)BytePRM_RD

6 MECHATROLINK-II Subcommands6.2.4 Read Alarm or Warning (ALM_RD: 05H)6-46.2.4 Read Alarm or Warning (ALM_RD: 05H)6.2.5 Write Non-volatile Parameter

6.2 MECHATROLINK-II Subcommands Details6-56MECHATROLINK-II Subcommands6.2.6 Set Latch Mode (LTMOD_ON: 28H)(1) Extension Status Field SpecificationsTh

6 MECHATROLINK-II Subcommands6.2.7 Release Latch Mode (LTMOD_OFF: 29H)6-66.2.7 Release Latch Mode (LTMOD_OFF: 29H)6.2.8 Status Monitoring (SMON: 30H

1 MECHATROLINK-II Commands1.1.4 Terminology1-41.1.4 TerminologyThis section defines the terminology used in this manual.(1) Transmission Cycle and C

7-17Data Field7Data FieldThis chapter describes the data field to be used for the main commands and subcommands. Descriptions in this chapter are also

7 Data Field7.1.1 Status Field Specifications7-27.1 Main Command Data FieldThe data of each field in the main commands or subcommands is described b

7.1 Main Command Data Field7-37Data FieldD11NEAR(During position control)0 Out of positioning proximity1 Within positioning proximityV_LIM(During tor

7 Data Field7.1.2 OPTION Field Specifications7-47.1.2 OPTION Field SpecificationsThe option field is used to add functions to a motion command.(1) A

7.1 Main Command Data Field7-57Data Field(3) Functions That Can Be Allocated to Bits of the OPTION FieldNote 1. Do not allocate more than one signal

7 Data Field7.1.3 Monitor Selection Field Specifications: SEL_MON1/2/3/47-67.1.3 Monitor Selection Field Specifications: SEL_MON1/2/3/4The monitor s

7.1 Main Command Data Field7-77Data Field7.1.4 Monitor Information Field Specifications: MONITOR 1/2/3/4The monitor information (MONITOR 1/2/3/4)fiel

7 Data Field7.1.5 IO Monitor Field Specifications: IO_MON7-87.1.5 IO Monitor Field Specifications: IO_MONThe IO monitor field is used to monitor the

7.1 Main Command Data Field7-97Data Field7.1.6 LT_SGNL Specifications Applicable CommandsLATCH, EX_POSING, ZRET, LTMOD_ON (When Pn850 = 0), SVCTRLTh

7 Data Field7.2.1 Substatus Field Specification7-107.2 Substatus Data Field7.2.1 Substatus Field SpecificationThe substatus field is used to monitor

1.2 MECHATROLINK-II Command List1-51MECHATROLINK-II Commands1.2 MECHATROLINK-II Command List1.2.1 Main Commands (In command code order)The MECHATROLI

8-18Detecting Alarms/Warnings Related to Communications or Commands8Detecting Alarms/Warnings Related to Communications or CommandsThis chapter descri

8 Detecting Alarms/Warnings Related to Communications or Commands 8-28.1 List of AlarmsThe following table shows alarms that are related to communic

8.1 List of Alarms8-38Detecting Alarms/Warnings Related to Communications or CommandsA.E51:MECHATROLINK-II Synchronization FailedWDT data of host con

8 Detecting Alarms/Warnings Related to Communications or Commands 8-48.2 List of WarningsThe following table shows warnings that are related to comm

8.2 List of Warnings8-58Detecting Alarms/Warnings Related to Communications or CommandsNote: To select whether or not warnings will be detected, use

8 Detecting Alarms/Warnings Related to Communications or Commands 8-68.3 Monitoring Communication Data on Occurrence of an Alarm or WarningThe comma

A-1AppAppendixAppendixA Brake Control Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-2B General-purpose Serv

Appendix A-2A Brake Control Commands(1) Apply Brake (BRK_ON: 21H)The specifications of BRK_ON (21H) command are described below.(2) Combination of

A Brake Control CommandsA-3AppAppendix(3) Release Brake (BRK_OFF: 22H)The specifications of BRK_OFF command (22H) are described below.(4) Combination

Appendix A-4B General-purpose Servo Control CommandThe specifications of general-purpose servo control command are described below.• Sub-control (S

1 MECHATROLINK-II Commands1.2.2 Subcommands (In command code order)1-61.2.2 Subcommands (In command code order)The MECHATROLINK-II subcommands used

B General-purpose Servo Control CommandA-5AppAppendixSelect Motion (MOTION)Select Latch Signal (L_SGN)• Sequence Signals: SQ_CMD• Combination of SVCT

Revision HistoryThe revision dates and numbers of the revised manuals are given on the bottom of the back cover.MANUAL NO.SIEP S800000 54BPublished

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1.2 MECHATROLINK-II Command List1-71MECHATROLINK-II Commands1.2.3 Combination of MECHATROLINK-II Main Commands and SubcommandsSubcommands can be used

1 MECHATROLINK-II Commands1.3.1 Command Data Execution Timing1-81.3 Command and Response TimingThis section describes command execution timing at a

1.4 Data Order1-91MECHATROLINK-II Commands1.4 Data OrderData in MECHATROLINK-II commands and responses is stored in little endian byte order. For exa

2-12Operation Sequence2Operation SequenceThis chapter describes basic operation sequences through MECHATROLINK-II communi-cations.2.1 Preparing for O

2 Operation Sequence2.1.1 Setting MECHATROLINK-II Communications2-22.1 Preparing for OperationThis section describes how to set communications speci

Copyright © 2007 YASKAWA ELECTRIC CORPORATIONAll rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or tra

2.1 Preparing for Operation2-32Operation Sequence Setting the Station AddressThe following table lists the possible settings of the rotary switch (S

2 Operation Sequence2.1.1 Setting MECHATROLINK-II Communications2-4(2) When the DC Power Input Σ-V Series SERVOPACKs (SGDV-E11) are UsedThe DIP s

2.1 Preparing for Operation2-52Operation Sequence Setting the Station AddressThe following table lists the possible settings of the DIP switches (SW

2 Operation Sequence2.1.1 Setting MECHATROLINK-II Communications2-6(3) When the Large-Capacity Σ-V Series SERVOPACKs (SGDV-H11, -J11) are Use

2.1 Preparing for Operation2-72Operation Sequence Setting the Station AddressThe following table lists the possible settings of the rotary switch (S

2 Operation Sequence2.1.2 Checking the Communications Status2-82.1.2 Checking the Communications StatusTurn ON the control and main circuit power su

2.2 Operation Sequence for Managing Parameters Using a Controller2-92Operation Sequence2.2 Operation Sequence for Managing Parameters Using a Control

2 Operation Sequence2.3.1 Setup Sequence2-102.3 Operation Sequence for Managing Parameters Using a SERVOPACKTo manage the parameters by using SERVOP

2.4 Specific Operation Sequences2-112Operation Sequence2.4 Specific Operation SequencesThis section describes operations that use commands in specifi

2 Operation Sequence2.4.4 Operation Sequence When a Safety Signal is Input2-122.4.4 Operation Sequence When a Safety Signal is InputWhen an HWBB1 or

iiiAbout this ManualThis manual describes the specifications of MECHATROLINK-II commands used for the following MECHATROLINK-II communications refere

2.4 Specific Operation Sequences2-132Operation Sequence2.4.5 Operation Sequence at Occurrence of AlarmWhen the ALM bit in STATUS field of response tu

2 Operation Sequence2.5.1 When Using an Incremental Encoder2-142.5 Setting the Origin Before Starting Operation2.5.1 When Using an Incremental Encod

3-13Commands for Preparation Process3Commands for Preparation ProcessThis chapter describes the MECHATROLINK-II commands needed to prepare for opera-t

3 Commands for Preparation Process 3-23.1 Commands List for Preparation ProcessOperation Command to Send DescriptionConfirmation of completion of SE

3.2 Commands Details3-33Commands for Preparation Process3.2 Commands Details3.2.1 No Operation (NOP: 00H)After turning on the control and main circui

3 Commands for Preparation Process3.2.1 No Operation (NOP: 00H)3-4(3) Status Field SpecificationsThe status field is used to monitor the SERVOPACK s

3.2 Commands Details3-53Commands for Preparation Process(4) Details WDT and RWDTThe watchdog timer data will be set in WDT and RWDT of NOP command an

3 Commands for Preparation Process3.2.2 Release MECHATROLINK-II Connection (DISCONNECT: 0FH)3-63.2.2 Release MECHATROLINK-II Connection (DISCONNECT:

3.2 Commands Details3-73Commands for Preparation Process3.2.3 Establish MECHATROLINK-II Connection (CONNECT: 0EH)Send a CONNECT command to establish

3 Commands for Preparation Process3.2.3 Establish MECHATROLINK-II Connection (CONNECT: 0EH)3-8(2) Details of COM_MODCOM_MOD bit allocation and each

ivWarranty(1) Details of Warranty Warranty PeriodThe warranty period for a product that was purchased (hereinafter called “delivered product”) is

3.2 Commands Details3-93Commands for Preparation Process3.2.4 Start Synchronous Communications (SYNC_SET: 0DH)This section describe how to start sync

3 Commands for Preparation Process3.2.5 Check Device ID (ID_RD: 03H)3-103.2.5 Check Device ID (ID_RD: 03H)Send ID_RD command to read the device ID f

3.2 Commands Details3-113Commands for Preparation Process(2) Device ID SpecificationsThe specifications of the device ID are described below. When t

3 Commands for Preparation Process3.2.5 Check Device ID (ID_RD: 03H)3-12 When the DC Power Input Σ-V Series SERVOPACKs (SGDV-E11) are Used• SERV

3.2 Commands Details3-133Commands for Preparation Process When the Large-Capacity Σ-V Series SERVOPACKs (SGDV-H11, -J11) are Used• SERVOPACK M

3 Commands for Preparation Process3.2.6 Set Parameters (PRM_WR: 02H)3-143.2.6 Set Parameters (PRM_WR: 02H)Send PRM_WR command to set parameters when

3.2 Commands Details3-153Commands for Preparation Process3.2.7 Set and Save Parameters in Non-volatile Memory (PPRM_WR: 1CH)Send a PPRM_WR command to

3 Commands for Preparation Process3.2.8 Validate Parameters (Setup) (CONFIG: 04H)3-163.2.8 Validate Parameters (Setup) (CONFIG: 04H)The set paramete

3.2 Commands Details3-173Commands for Preparation Process3.2.9 Turn Encoder Power Supply ON (SENS_ON: 23H)Send SENS_ON command to turn ON the encoder

3 Commands for Preparation Process3.2.9 Turn Encoder Power Supply ON (SENS_ON: 23H)3-18(3) Monitor Information Field Specifications: MONITOR 1/2/3/4

v(3) Suitability for Use1. It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that apply if the Yaska

3.2 Commands Details3-193Commands for Preparation Process(4) IO Monitor Field Specifications: IO_MONThe IO monitor field is used to monitor the I/O s

3 Commands for Preparation Process3.2.10 Turn Servo ON (SV_ON: 31H)3-203.2.10 Turn Servo ON (SV_ON: 31H)Send the SV_ON command to power the servomot

3.2 Commands Details3-213Commands for Preparation Process(2) OPTION Field SpecificationsThe option field is used to add functions to a motion command

3 Commands for Preparation Process3.2.10 Turn Servo ON (SV_ON: 31H)3-22Note 1. Do not allocate more than one signal to one bit. Otherwise, multiple

3.2 Commands Details3-233Commands for Preparation Process3.2.11 Turn Encoder Power Supply OFF (SENS_OFF: 24H)Send a SENS_OFF command to turn OFF the

3 Commands for Preparation Process3.2.12 Turn Servo OFF (SV_OFF: 32H)3-243.2.12 Turn Servo OFF (SV_OFF: 32H)Send an SV_OFF command to stop current f

3.2 Commands Details3-253Commands for Preparation Process3.2.13 Read Parameters (PRM_RD: 01H)Send a PRM_RD command to read out parameters.(1) PRM_RD

3 Commands for Preparation Process3.2.14 Check SERVOPACK Status (SMON: 30H)3-263.2.14 Check SERVOPACK Status (SMON: 30H)Send a SMON command to check

3.2 Commands Details3-273Commands for Preparation Process3.2.15 Read Alarm or Warning (ALM_RD: 05H)Send an ALM_RD command to read out the current ala

3 Commands for Preparation Process3.2.15 Read Alarm or Warning (ALM_RD: 05H)3-28(2) ALM_RD_MOD Specifications1. When ALM_RD_MOD=0 or 1An alarm code

viContentsAbout this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iiiWa

3.2 Commands Details3-293Commands for Preparation Process3.2.16 Clear Warning or Alarm (ALM_CLR: 06H) Send an ALM_CLR command to clear the warning/al

3 Commands for Preparation Process3.2.17 Set Coordinate System (POS_SET: 20H)3-303.2.17 Set Coordinate System (POS_SET: 20H)Send a POS_SET command t

3.2 Commands Details3-313Commands for Preparation Process3.2.18 Monitor and Adjust Settings (ADJ: 3EH)Send an ADJ command to monitor and adjust setti

3 Commands for Preparation Process3.2.18 Monitor and Adjust Settings (ADJ: 3EH)3-32ADJ Command Execution Procedure for Adjustment:1. Send the follow

3.2 Commands Details3-333Commands for Preparation Process(3) How to Send an ADJ Command for Monitoring DataThe table below lists the data that can be

3 Commands for Preparation Process3.2.18 Monitor and Adjust Settings (ADJ: 3EH)3-34Speed/Torque (Force) Data NormalizationThe following data used in

4-14Motion Commands for Operation4Motion Commands for OperationThis chapter describes the MECHATROLINK-II commands needed to control motions.4.1 Moti

4 Motion Commands for Operation 4-24.1 Motion Commands ListThe motion commands described in this chapter are listed below.ItemsCommand to SendDescri

4.2 Motion Commands Details4-34Motion Commands for Operation4.2 Motion Commands Details4.2.1 Stop Motion (HOLD: 25H)(1) HOLD Command (25H)The HOLD co

4 Motion Commands for Operation4.2.1 Stop Motion (HOLD: 25H)4-4(2) Related ParametersDeceleration is specified by the following parameters.Parameter

vii3.2.13 Read Parameters (PRM_RD: 01H) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-253.2.14 Check SERVOPACK S

4.2 Motion Commands Details4-54Motion Commands for Operation4.2.2 Set Latch Mode (LTMOD_ON: 28H)(1) LTMOD_ON Command (28H)The LTMOD_ON command is use

4 Motion Commands for Operation4.2.2 Set Latch Mode (LTMOD_ON: 28H)4-6(3) Continuous Latch ModeThis function sequentially latches the input position

4.2 Motion Commands Details4-74Motion Commands for Operation Latched Position DataThe latest latched position data at completion of latching can be

4 Motion Commands for Operation4.2.3 Release Latch Mode (LTMOD_OFF: 29H)4-84.2.3 Release Latch Mode (LTMOD_OFF: 29H)(1) LTMOD_OFF Command (29H)The L

4.2 Motion Commands Details4-94Motion Commands for Operation4.2.4 Interpolation Feeding (INTERPOLATE: 34H)(1) INTERPOLATE Command (34H)The INTERPOLAT

4 Motion Commands for Operation4.2.4 Interpolation Feeding (INTERPOLATE: 34H)4-10(2) Related ParametersEither torque (force) feed forward (TFF) or t

4.2 Motion Commands Details4-114Motion Commands for Operation4.2.5 Positioning (POSING: 35H)(1) POSING Command (35H)The POSING command is used to sta

4 Motion Commands for Operation4.2.5 Positioning (POSING: 35H)4-12Positioning will be performed as illustrated below.(2) Related ParametersThe param

4.2 Motion Commands Details4-134Motion Commands for Operation4.2.6 Constant Speed Feeding (FEED: 36H)(1) FEED Command (36H)The FEED command is used t

4 Motion Commands for Operation4.2.6 Constant Speed Feeding (FEED: 36H)4-14Constant speed feeding is performed as illustrated below.(2) Related Para

viiiChapter 6 MECHATROLINK-II Subcommands. . . . . . . . . . . . . . . . . . . . . .6-16.1 MECHATROLINK-II Subcommands List . . . . . . . . . .

4.2 Motion Commands Details4-154Motion Commands for Operation4.2.7 Interpolation Feeding with Position Detection (LATCH: 38H)(1) LATCH Command (38H)T

4 Motion Commands for Operation4.2.7 Interpolation Feeding with Position Detection (LATCH: 38H)4-16(2) Related ParametersThe parameters related to t

4.2 Motion Commands Details4-174Motion Commands for Operation4.2.8 External Input Positioning (EX_POSING: 39H)(1) EX_POSING Command (39H)The EX_POSIN

4 Motion Commands for Operation4.2.8 External Input Positioning (EX_POSING: 39H)4-18(2) OperationThe operation executed by EX_POSING command is illu

4.2 Motion Commands Details4-194Motion Commands for Operation4.2.9 Homing (ZRET: 3AH)(1) ZRET Command (3AH)The ZRET command is used to perform homing

4 Motion Commands for Operation4.2.9 Homing (ZRET: 3AH)4-20(2) OperationThe motion executed by ZRET command is illustrated below.(3) Related Paramet

4.2 Motion Commands Details4-214Motion Commands for Operation4.2.10 Velocity Control (VELCTRL: 3CH)(1) VELCTRL Command (3CH)The VELCTRL command is us

4 Motion Commands for Operation4.2.10 Velocity Control (VELCTRL: 3CH)4-22(2) Soft Start FunctionThe soft start function converts input speed referen

4.2 Motion Commands Details4-234Motion Commands for Operation4.2.11 Torque (Force) Control (TRQCTRL: 3DH)(1) TRQCTRL (3DH)The TRQCTRL command is used

4 Motion Commands for Operation4.2.11 Torque (Force) Control (TRQCTRL: 3DH)4-24(2) Speed Limit Option 1 When Using a Rotational ServomotorUse Pn407

1-11MECHATROLINK-II Commands1MECHATROLINK-II CommandsThis chapter provides on outline of MECHATROLINK-II commands.1.1 MECHATROLINK-II Communications

5-15Command Related Parameters5Command Related ParametersThis chapter describes parameter settings related to each command action.5.1 Command Related

5 Command Related Parameters 5-25.1 Command Related Parameters ListThis chapter describes the following parameters related to command actions.Classi

5.1 Command Related Parameters List5-35Command Related ParametersSTATUS Field and Monitor Related SettingsPn803 Origin RangeSets the following monito

5 Command Related Parameters5.2.1 Electronic Gear Setting5-45.2 Command Related Parameters Details5.2.1 Electronic Gear Setting(1) Electronic GearTh

5.2 Command Related Parameters Details5-55Command Related Parameters(2) Setting the Electronic Gear RatioUse the parameters Pn20E and Pn210 to set th

5 Command Related Parameters5.2.2 Motion Acceleration/Deceleration Function Setting5-65.2.2 Motion Acceleration/Deceleration Function SettingThis se

5.2 Command Related Parameters Details5-75Command Related Parameters Acceleration/Deceleration Parameters when Pn833=n.1Note: If the deceleration

5 Command Related Parameters5.2.2 Motion Acceleration/Deceleration Function Setting5-8 Position Reference Filter Type SelectionUse the ACCFIL bit o

5.2 Command Related Parameters Details5-95Command Related ParametersParameter No.NameData Size (byte)Setting Range UnitFactory SettingPn827 Linear De

5 Command Related Parameters5.2.3 Motion Sequence Setting5-105.2.3 Motion Sequence SettingThis section describes parameters related to the actions o