Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 18)

2-1
2
Operation Sequence
2
Operation Sequence
This chapter describes basic operation sequences through MECHATROLINK-II communi-
cations.
2.1 Preparing for Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.1.1 Setting MECHATROLINK-II Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.1.2 Checking the Communications Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8
2.2 Operation Sequence for Managing Parameters Using a Controller . . . . . 2-9
2.3 Operation Sequence for Managing Parameters Using a SERVOPACK . 2-10
2.3.1 Setup Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10
2.3.2 Ordinary Operation Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10
2.4 Specific Operation Sequences . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11
2.4.1 Operation Sequence When Turning the Servo ON . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11
2.4.2 Operation Sequence When OT (Overtravel Limit Switch) Signal Is Input . . . . . . . . . 2-11
2.4.3 Operation Sequence at Emergency Stop (Main Circuit OFF) . . . . . . . . . . . . . . . . . . 2-11
2.4.4 Operation Sequence When a Safety Signal is Input . . . . . . . . . . . . . . . . . . . . . . . . . 2-12
2.4.5 Operation Sequence at Occurrence of Alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-13
2.4.6 When Motion Command Is Interrupted and Servomotor Is in Position . . . . . . . . . . . 2-13
2.5 Setting the Origin Before Starting Operation . . . . . . . . . . . . . . . . . . . . . . 2-14
2.5.1 When Using an Incremental Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14
2.5.2 When Using an Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14