Yaskawa SGDS Sigma III Servo Amplifier - Manual (Page 189)

6 MECHATROLINK II Communications
6.7.3 Operation Sequence When Being Servo ON
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6.7.3 Operation Sequence When Being Servo ON
Motor control using a host controller is performed using motion commands only while the SERVOPACK is
Servo ON (while current flows to the motor). While the SERVOPACK is Servo OFF (while current to the motor
is interrupted), management of position data is performed by the SERVOPACK so that the reference coordinate
system (POS, MPOS) and FB coordinate system (APOS) are equal. In order to send appropriate motion
commands, it is necessary to use the SMON command after the SERVOPACK changes to Servo ON to read the
Servo reference coordinate (POS) and send an appropriate reference position.
6.7.4 Operation Sequence When OT (Overtravel Limit Switch) Signal Is Input
When the OT signal is input, the SERVOPACK prohibits rotation in the OT signal direction. This is performed as
specified in parameter Pn001, and the SERVOPACK continues to control the motor while this rotation is
prohibited. Use the following sequence for processing or canceling when the OT signal is input.
(1) Processing When the OT Signal Is Input
1. Monitor the OT signal or send a stop command if the OT signal will be input. Use either of the following
stop commands.
• Interpolation command (INTERPOLATE, LATCH):
The interpolation command keeps the interpolation position, then stops. As an alternative, send the
HOLD command or SMON command.
• Movement reference (POSING etc.) command other than the interpolation command:
Send the HOLD command.
2. Use the output complete flag (DEN = 1) to confirm the completion of SERVOPACK OT processing. By
also confirming that PSET = 1, it is possible to detect motor stopping with absolute certainty. The com-
mand used in number 1 above is held until these flags are complete.
(2) OT Cancellation (Retraction)
OT cancellation (retraction) is performed with a movement command. Read out the current reference position
POS and reset the reference coordinate system of the correct controller.Then execute a retraction command.
6.7.5 Operation Sequence At Emergency Stop (Main Circuit OFF)
After detecting PON bit which in STATUS field of response data was turned OFF, send the SV_OFF command.
The SERVOPACK status is monitored by using the SMON command during emergency stop.