Yaskawa SGDS Sigma III Servo Amplifier - Manual (Page 188)

6.7 Operation Sequence
6-57
6.7.2 Operation Sequence for Managing Parameters
Using SERVOPACK
When the parameters are managed by SERVOPACK E
2
PROM, the operation is performed in two steps.
Step 1: Saving parameters (during set-up)
Step 2: Ordinary operation sequence
* 1. If communication disconnects normally, the NOP command is sent. If communication does not dis-
connect normally, the DISCONNECT command is sent for two or more communications cycles prior
to connection, then the CONNECT command is sent.
* 2. Do not use PRM_WR.
* If communication disconnects normally, the NOP command is sent. If communication does not
disconnect normally, the DISCONNECT command is sent for two or more communications cycles
prior to connection, then the CONNECT command is sent.
Proce-
dure
Item Command Description Phase
1 Turn ON control power
supply.
NOP/DISCONNECT *1 Turn ON power supply. 1
3 Establish connection. CONNECT Establish communications.
Start the WDT count. 2 or 3
4 Check information
such as device ID. ID_RD Read information such as device type. 2 or 3
5 Set device.
PPRM_WR *2 Set the necessary parameters such as
offline parameters to non-volatile mem-
ory. 2 or 3
6 Disconnect connection. DISCONNECT Disconnect communications. 4 to 1
7 Turn OFF control
power supply. − Turn OFF power supply. 5
Proce-
dure
Item Command Description Phase
1 Turn ON control and main cir-
cuit power supplies. NOP/DISONNECT* Turn ON power supplies. 1
2 Establish connection. CONNECT Establish communications.
Start the WDT count. 2 or 3
3 Check information such as
device ID. ID_RD Read information such as device
type. 2 or 3
4 Turn ON encoder. SENS_ON Turn ON encoder and obtain the
position data. 2 or 3
5 Operate main circuit. SV_ON Change to Servo ON. 2 or 3
6 Start operation.
.
.
.
.
.
.
Start operation.
.
.
. 2 or 3
7 Turn OFF main circuit. SV_OFF Change to Servo OFF. 2 or 3
8 Disconnect connection. DISCONNECT Disconnect communications. 4 to 1
9 Turn OFF control and main
circuit power supplies. − Turn OFF power supplies. 5