Document Outline

• Front Cover
• About this Manual
• Warranty
• Contents
• 1 MECHATROLINK-II Commands
  • 1.1 MECHATROLINK-II Communications
    • 1.1.1 Layers
    • 1.1.2 Frame Structure
    • 1.1.3 State Transition Diagram
    • 1.1.4 Terminology
  • 1.2 MECHATROLINK-II Command List
    • 1.2.1 Main Commands (In command code order)
    • 1.2.2 Subcommands (In command code order)
    • 1.2.3 Combination of MECHATROLINK-II Main Commands and Subcommands
  • 1.3 Command and Response Timing
    • 1.3.1 Command Data Execution Timing
    • 1.3.2 Monitored Data Input Timing
  • 1.4 Data Order
• 2 Operation Sequence
  • 2.1 Preparing for Operation
    • 2.1.1 Setting MECHATROLINK-II Communications
    • 2.1.2 Checking the Communications Status
  • 2.2 Operation Sequence for Managing Parameters Using a Controller
  • 2.3 Operation Sequence for Managing Parameters Using a SERVOPACK
    • 2.3.1 Setup Sequence
    • 2.3.2 Ordinary Operation Sequence
  • 2.4 Specific Operation Sequences
    • 2.4.1 Operation Sequence When Turning the Servo ON
    • 2.4.2 Operation Sequence When OT (Overtravel Limit Switch) Signal Is Input
    • 2.4.3 Operation Sequence at Emergency Stop (Main Circuit OFF)
    • 2.4.4 Operation Sequence When a Safety Signal is Input
    • 2.4.5 Operation Sequence at Occurrence of Alarm
    • 2.4.6 When Motion Command Is Interrupted and Servomotor Is in Position
  • 2.5 Setting the Origin Before Starting Operation
    • 2.5.1 When Using an Incremental Encoder
    • 2.5.2 When Using an Absolute Encoder
• 3 Commands for Preparation Process
  • 3.1 Commands List for Preparation Process
  • 3.2 Commands Details
    • 3.2.1 No Operation (NOP: 00H)
    • 3.2.2 Release MECHATROLINK-II Connection (DISCONNECT: 0FH)
    • 3.2.3 Establish MECHATROLINK-II Connection (CONNECT: 0EH)
    • 3.2.4 Start Synchronous Communications (SYNC_SET: 0DH)
    • 3.2.5 Check Device ID (ID_RD: 03H)
    • 3.2.6 Set Parameters (PRM_WR: 02H)
    • 3.2.7 Set and Save Parameters in Non-volatile Memory (PPRM_WR: 1CH)
    • 3.2.8 Validate Parameters (Setup) (CONFIG: 04H)
    • 3.2.9 Turn Encoder Power Supply ON (SENS_ON: 23H)
    • 3.2.10 Turn Servo ON (SV_ON: 31H)
    • 3.2.11 Turn Encoder Power Supply OFF (SENS_OFF: 24H)
    • 3.2.12 Turn Servo OFF (SV_OFF: 32H)
    • 3.2.13 Read Parameters (PRM_RD: 01H)
    • 3.2.14 Check SERVOPACK Status (SMON: 30H)
    • 3.2.15 Read Alarm or Warning (ALM_RD: 05H)
    • 3.2.16 Clear Warning or Alarm (ALM_CLR: 06H)
    • 3.2.17 Set Coordinate System (POS_SET: 20H)
    • 3.2.18 Monitor and Adjust Settings (ADJ: 3EH)
• 4 Motion Commands for Operation
  • 4.1 Motion Commands List
  • 4.2 Motion Commands Details
    • 4.2.1 Stop Motion (HOLD: 25H)
    • 4.2.2 Set Latch Mode (LTMOD_ON: 28H)
    • 4.2.3 Release Latch Mode (LTMOD_OFF: 29H)
    • 4.2.4 Interpolation Feeding (INTERPOLATE: 34H)
    • 4.2.5 Positioning (POSING: 35H)
    • 4.2.6 Constant Speed Feeding (FEED: 36H)
    • 4.2.7 Interpolation Feeding with Position Detection (LATCH: 38H)
    • 4.2.8 External Input Positioning (EX_POSING: 39H)
    • 4.2.9 Homing (ZRET: 3AH)
    • 4.2.10 Velocity Control (VELCTRL: 3CH)
    • 4.2.11 Torque (Force) Control (TRQCTRL: 3DH)
• 5 Command Related Parameters
  • 5.1 Command Related Parameters List
  • 5.2 Command Related Parameters Details
    • 5.2.1 Electronic Gear Setting
      • (1) Electronic Gear
      • (2) Setting the Electronic Gear Ratio
    • 5.2.2 Motion Acceleration/Deceleration Function Setting
      • (1) Linear Acceleration/Deceleration Function
      • (2) Position Reference Filter
      • (3) Linear Deceleration Speed Setting for Commands to Stop a Motor
    • 5.2.3 Motion Sequence Setting
      • (1) Settings for EX_POSING Command
      • (2) Settings for ZRET Command
    • 5.2.4 Command Data Options
      • (1) Torque (Force) Limiting Function
      • (2) Torque (Force) Feed Forward Function
      • (3) Speed Limiting Function During Torque (Force) Control
      • (4) OPTION Field Allocation
    • 5.2.5 Position Data Latch Function Setting
      • (1) Latching Allowable Area
      • (2) Continuous Latch Function
    • 5.2.6 Acceleration/Deceleration Parameter High-speed Switching Function
    • 5.2.7 STATUS Field and Monitor Related Settings
      • (1) STATUS Field Status Detection Level Setting
      • (2) I/O Monitor Field Signal Allocation
      • (3) Option Monitor Setting
• 6 MECHATROLINK-II Subcommands
  • 6.1 MECHATROLINK-II Subcommands List
  • 6.2 MECHATROLINK-II Subcommands Details
    • 6.2.1 No Operation (NOP: 00H)
    • 6.2.2 Read Parameter (PRM_RD: 01H)
    • 6.2.3 Write Parameter (PRM_WR: 02H)
    • 6.2.4 Read Alarm or Warning (ALM_RD: 05H)
    • 6.2.5 Write Non-volatile Parameter (PPRM_WR: 1CH)
    • 6.2.6 Set Latch Mode (LTMOD_ON: 28H)
    • 6.2.7 Release Latch Mode (LTMOD_OFF: 29H)
    • 6.2.8 Status Monitoring (SMON: 30H)
• 7 Data Field
  • 7.1 Main Command Data Field
    • 7.1.1 Status Field Specifications
    • 7.1.2 OPTION Field Specifications
    • 7.1.3 Monitor Selection Field Specifications: SEL_MON1/2/3/4
    • 7.1.4 Monitor Information Field Specifications: MONITOR 1/2/3/4
    • 7.1.5 IO Monitor Field Specifications: IO_MON
    • 7.1.6 LT_SGNL Specifications
  • 7.2 Substatus Data Field
    • 7.2.1 Substatus Field Specification
    • 7.2.2 Extension Status Field Specifications
• 8 Detecting Alarms/Warnings Related to Communications or Commands
  • 8.1 List of Alarms
  • 8.2 List of Warnings
  • 8.3 Monitoring Communication Data on Occurrence of an Alarm or Warning
• Appendix
  • A Brake Control Commands
  • B General-purpose Servo Control Command
• Revision History
• Back Cover