Yaskawa SGDS Sigma III Servo Amplifier - Manual (Page 159)

6 MECHATROLINK II Communications
6.3.22 Servo ON (SV_ON: 31H)
6-28
6.3.22 Servo ON (SV_ON: 31H)
Byte SV_ON Description
Command Response
1 31H 31H Processing
classifications Control com-
mand group Synchronization
classifications Asynchronous
2 ALARM Processing time Use for linear
motors: Within 10
ms
Excluding above
motors :
Within 50 ms Subcommand Can be used
3 OPTION STATUS • The SERVOPACK changes to Servo ON.
• Can be used during phases 2 and 3.
• Command warning 1 (A.95A) will occur and the command 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 field can be selected. Refer to 6.5.2 Option Field Specifications:
OPTION for details.
• When connectiing 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.
4
5
MONITOR1
6
7
8
9
MONITOR2
10
11
12
13
SEL_MON 1/2 SEL_MON 1/2
14 IO_MON
15
16
WDT RWDT
17 For
subcommands.
Refer to 6.4
Subcommands. For
subcommands.
Refer to 6.4
Subcommands.
18
19
20
21
22
23
24
25
26
27
28
29