Yaskawa SGDS Sigma III Servo Amplifier - Manual (Page 141)

6 MECHATROLINK II Communications
6.3.5 Set Up Device (CONFIG: 04H)
6-10
6.3.5 Set Up Device (CONFIG: 04H)
* + α is setting of the Brake reference-Servo off delay time set in Pn506 (500 ms max.)
• Status and Output Signal during CONFIG Command Execution
Byte CONFIG Description
Command Response
1 04H 04H Processing
classifications Control com-
mand group Synchronization
classifications Asynchronous
2 ALARM Processing time
Within 4 s + α ∗ Subcommand Cannot be used
3 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
when the SERVOPACK is Servo ON.
• A warning will occur and the command will be ignored in the following cases.
- During phase 1: Command warning1 (A.95A)
- If a Digital Operator is connected: Command warning1 (A.95A)
4
5
6
7
8
9
10
11
12
13
14
15
16
WDT RWDT
Status and
Output Signal
Before CONFIG During CONFIG After CONFIG
ALM (status) Current status Current status Current status
CMDRDY (status) 1 0 1
Other status Current status Not specified Current status
ALARM (code) Alarms currently
occurred Alarms currently
occurred Alarms currently
occurred
ALM
(CN1 output signal) Current status Current status Current status
/S-RDY
(CN1 output signal) Current status OFF Current status
Other output signals Current status Not specified Current status