Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 48)

3.2 Commands Details
3-17
3
Commands for Preparation Process
3.2.9 Turn Encoder Power Supply ON (SENS_ON: 23H)
Send SENS_ON command to turn ON the encoder power supply.
(1) SENS_ON Command (23H)
The specifications of the SENS_ON command are described below.
(2) Monitor Selection Field Specifications: SEL_MON1/2/3/4
The monitor selection (SEL_MON1/2/3/4) field is used to select the Servo monitor information.
• Applicable Commands:
SV_ON, SV_OFF, HOLD, INTERPOLATE, POSING, FEED, LATCH, EX_POSING, ZRET, VELCTRL,
TRQCTRL, SMON, SENS_ON, SENS_OFF, BRK_ON, BRK_OFF, LTMOD_ON, LTMOD_OFF
• Setting Method:
Set MONITOR 1/2/3/4 monitor codes in SEL_MON1/2/3/4 allocated in the thirteenth byte of the main com-
mand or in the reserved area of the nineteenth byte of the subcommand.
SEL_MON1/2/3/4 allocation is shown below.
Byte
SENS_ON
Description
Command Response
1 23H 23H
Phases in
which the
command can
be executed
Phase 2 and 3
Synchronization
classification
Asynchronous
command
2 ALARM
Processing
time
Within 2 s Subcommand Cannot be used
3
STATUS
• Obtains the initial position data and creates the present position when an
absolute encoder is used.
• The reference point, home position (ZPOINT), and software limits will
be enabled when an absolute encoder is used.
• After having used this command, the position data must be monitored
and the coordinate system of host controller must be setup.
4
5
MONITOR1
6
7
8
9
MONITOR2
10
11
12
13 SEL_MON1/2 SEL_MON1/2
14
IO_MON
15
16 WDT RWDT
D7 D6 D5 D4 D3 D2 D1 D0
SEL_MON2 SEL_MON1
D7 D6 D5 D4 D3 D2 D1 D0
SEL_MON4 SEL_MON3