Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 63)

3 Commands for Preparation Process
3.2.18 Monitor and Adjust Settings (ADJ: 3EH)
3-32
ADJ Command Execution Procedure for Adjustment:
1. Send the following data and set the request code of the adjustment to be executed.
CCMD = 0004H
CADDRESS = 2000H
CSIZE = 0002H
CDATA = Request code of the adjustment to be executed
When the slave station receives the command normally, CMDRDY of status field will be set to 1. Also
check ERRCODE. If an error occurs, carry out the operation in step 4 to abort execution.
2. For adjustment that requires a preparation process, send the following data.
CCMD = 0004H
CADDRESS = 2001H
CSIZE = 0002H
CDATA = 0002H
When the slave station receives the command normally, CMDRDY of status field will be set to 1. Also
check ERRCODE. If an error occurs, carry out the operation in step 4 to abort execution.
3. Send the following data to execute adjustment.
CCMD = 0004H
CADDRESS = 2001H
CSIZE = 0002H
CDATA = 0001H
When the slave station receives the command normally, CMDRDY of status field will be set to 1. Also
check ERRCODE. If an error occurs, carry out the operation in step 4 to abort execution.
4. Send the following data to abort the execution.
CCMD = 0004H
CADDRESS = 2000H
CSIZE = 0002H
CDATA = 0000H
When the execution is aborted, CMDRDY of status field will be set to 1.
Note: If a communications alarm (A.E50 or A.E60) occurs after the request code has been set and before adjustment has
been executed, the adjustment can not be carried out. Remove the cause of the alarm and restart the adjustment pro-
cedure.
Multiturn limit setting 1013H Required 5 s max.
When using an incremental encoder, the set-
ting is disabled unless A.CC0 (Multiturn
limit disagreement) occurs.
After initialization, the power supply must
be turned OFF and then ON again.
Details of Command for Adjustment
Command Response
CCMD/CANS CCMD = 04H CANS = 04H (copy of the command)
CADDRESS Setting address Reference address (copy of the command)
CSIZE/
ERRCODE
2 or 4
At normal reception: 0000H
At error occurrence: A value other than 0
CDATA/RDATA Setting data Setting data (copy of the command)
List of Executable Adjustments (cont’d)
Adjustment
Request
Code
Preparation
Before
Execution
Processing
Time
Execution Conditions