Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 27)

2 Operation Sequence
2.3.1 Setup Sequence
2-10
2.3 Operation Sequence for Managing Parameters Using a
SERVOPACK
To manage the parameters by using SERVOPACK’s non-volatile memory, save the parameters in the non-vol-
atile memory at setup and use an ordinary operation sequence.
2.3.1 Setup Sequence
∗ If the connection cannot be released normally, send a DISCONNECT command for 2 or more communications cycles,
and then send a CONNECT command.
2.3.2 Ordinary Operation Sequence
∗ If the connection cannot be released normally, send a DISCONNECT command for 2 or more communications cycles,
and then send a CONNECT command.
Procedure Operation Command to Send
1 Turn on the control and main circuit power supply. NOP
2 Reset the previous communications status. DISCONNECT
*
3 Establish communications connection and start WDT count. CONNECT
4 Check information such as device ID. ID_RD
5 Get device setting data such as parameters. PRM_RD, ADJ
6
Save the parameters required for device in the non-volatile
memory. PPRM_WR
Note: Do not use PRM_WR.
7 Disconnect the communications connection. DISCONNECT
8 Turn off the control and main circuit power supplies. –
Procedure Operation Command to Send
1 Turn on the control and main circuit power supplies. NOP
2 Reset the previous communications status. DISCONNECT *
3 Establish communications connection and start WDT count. CONNECT
4 Check information such as device ID. ID_RD
5 Get device setting data such as parameters. PRM_RD, ADJ
6 Turn on the encoder power supply to get the position data. SENS_ON
7 Turn the servo on. SV_ON
8 Start operation. POSING, INTERPOLATE, etc.
9 Turn the servo off. SV_OFF
10 Disconnect the communications connection. DISCONNECT
11 Turn off the control and main circuit power supplies. –