Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 33)

3 Commands for Preparation Process
3-2
3.1 Commands List for Preparation Process
Operation Command to Send Description
Confirmation of completion of
SERVOPACK initialization
NOP, DISCONNECT Checks if the SERVOPACK has been initialized to be ready
for communications or not.
Establishment of MECHA-
TROLINK-II connection
CONNECT
Establishes communications connection and starts WDT
count.
Synchronous communications
start
SYNC_SET Starts synchronous communications.
Device ID check ID_RD Checks information such as device ID.
Parameter setting PRM_WR
Sets the parameters required for device. (When parameters
are managed by a controller)
Parameter setting and saving PPRM_WR
Sets the parameters required for device and saves them in the
non-volatile memory. (When parameters are managed by
SERVOPACK.)
Validation of parameter settings
(Setup)
CONFIG Enables the set parameters.
Encoder power supply ON SENS_ON Turns on the encoder power supply to get position data.
Servo ON SV_ON Turns the servo on.
Encoder power supply OFF SENS_OFF Turns off the encoder power supply off.
Servo OFF SV_OFF Turns the servo off.
Parameter read-out PRM_RD
Reads active parameters.
(When parameters are managed by a controller)
SERVOPACK status monitoring SMON Monitors the SERVOPACK status.
Alarm and warning read-out ALM_RD
Reads the current alarm or warning and the alarm occurrence
history.
Clearing alarm or warning status ALM_CLR
Clears the current alarm or warning status and the alarm
occurrence history.
Coordinate system setting POS_SET Sets the coordinate system.
Data monitoring and adjustment ADJ Monitors and adjusts the set data.