Yaskawa SGDS Sigma III Servo Amplifier - Manual (Page 358)

11.3 Using the Adjusting Command (ADJ: 3EH)
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11.3.2 Absolute Encoder Setup (Initialization)
The Adjusting (ADJ: 3EH) command can be used to setup (initialize) the absolute encoder.
The setup procedure is outline below.
Be sure to turn the power OFF then ON again after the encoder setup of absolute encoder.
1. By setting byte 1 of the MECHATROLINK II command field to ADJ (3EH) and byte 2 to 00H, the
following command field can be set.
2. Send the following data in each command field.
Set “01H” (Data setting) in the CCMD field.
Set “2000H” in the CADDRESS field.
Set “1008H” in the CDATA field.
3. CMDRDY of STATUS is set to 1, and CADDRESS and CDATA of the response are confirmed to be the
same as those of the command.
The absolute encoder will enter the Setup Mode.
4. Continue by using the following data.
Set “01H” (Data setting) in the CCMD field.
Set “2001H” in the CADDRESS field.
Set “02H” (Save) in the CDATA field.
5. CMDRDY of STATUS is set to 1, and CADDRESS and CDATA of the response are confirmed to be the
same as those of the command.
6. Send the following data.
Set “01H” (Data setting) in the CCMD field.
Set “2001H” in the CADDRESS field.
Set “01H” (Execute) in the CDATA field.
7. CMDRDY of STATUS is set to 1, and CADDRESS and CDATA of the response are confirmed to be the
same as those of the command. It takes one second until CMDRDY is set to 1.
This completes setting up the absolute encoder. Turn the power OFF then ON again to confirm that the
SERVOPACK will start up normally.
Command Response
5 CCMD CANS CCMD: Serial communications command
CANS: Serial communications answer
CADDRESS: Setting/reference address
CDATA: Setting/reference data
6 CADDRESS CADDRESS
7
8
CDATA CDATA
9
INFO