Yaskawa SGDS Sigma III Servo Amplifier - Manual (Page 153)

6 MECHATROLINK II Communications
6.3.16 Turn Sensor ON (SENS_ON: 23H)
6-22
6.3.16 Turn Sensor ON (SENS_ON: 23H)
Byte SENS_ON Description
Command Response
1 23H 23H Processing
classifications Control com-
mand group Synchronization
classifications Asynchronous
2 ALARM Processing time Within 1 sec 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.
• Can be used during phases 2 and 3.
• If an incremental encoder is being used, the command will be ignored.
• During phase 1, Command warning 1 (A.95A) will occur and the command
will be ignored.
• After having used this command, the position data must be monitored and the
coordinate system of host controller must be setup.
4
5
MONITOR 1
6
7
8
9
MONITOR 2
10
11
12
13
SEL_MON 1/2 SEL_MON 1/2
14 IO_MON
15
16
WDT RWDT