Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 47)

3 Commands for Preparation Process
3.2.8 Validate Parameters (Setup) (CONFIG: 04H)
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3.2.8 Validate Parameters (Setup) (CONFIG: 04H)
The set parameters need to be validated (setup) using a CONFIG command.
Executing this command recalculates all currently set parameters and initializes positions, output signals, etc.
(1) CONFIG Command (04H)
The specifications of the CONFIG command are described below.
(2) Status and Output Signal during CONFIG Command Execution
The status and output signal during CONFIG command execution are listed below.
Byte
CONFIG
Description
Command Response
1 04H 04H
Phases in
which the
command can
be executed
Phase 2 and 3
Synchronization
classification
Asynchronous
command
2 ALARM
Processing
time
Within 5 s Subcommand Cannot be used
3
STATUS
• Recalculates all currently set parameters and initializes position, etc.
• The SERVOPACK will change to Servo OFF if this command is received
when the SERVOPACK is Servo ON.
• A warning will occur and the command will be ignored if this command
is sent:
- When using SigmaWin or a digital operator to execute utility functions:
Command warning 1 (A.95A)
• Refer to (2) Status and Output Signal during CONFIG Command Execu-
tionfor details on status and output signal during CONFIG command exe-
cution.
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16 WDT RWDT
Status and Output Signal Before CONFIG During CONFIG After CONFIG
ALM (status) Current status Current status Current status
CMDRDY (status) 1 0 1
Other status Current status Not specified Current status
ALARM (code) Alarm currently occurred Alarm currently occurred Alarm currently occurred
ALM (CN1 output signal) Current status Current status Current status
/S-RDY (CN1 output signal) Current status OFF Current status
Other output signals Current status Not specified Current status