Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 62)

3.2 Commands Details
3-31
3
Commands for Preparation Process
3.2.18 Monitor and Adjust Settings (ADJ: 3EH)
Send an ADJ command to monitor and adjust settings.
(1) ADJ Command (3EH)
The specifications of the ADJ command are described below.
(2) How to Send an ADJ Command for Adjustment
The table below lists the adjustments that can be executed by sending an ADJ command.
Byte ADJ
Description
Command Response
1 3EH 3EH
Phases in
which the
command can
be executed
Phase 2 and 3
Synchronization
classification
Asynchronous
command
2 SUBCODE=01 ALARM
Processing
time
Depends on pro-
cessing
Subcommand Cannot be used
3
STATUS
• Use this command as SUBCODE = 01H.
The SERVOPACK will be in maintenance mode.
And, data monitoring and adjustment will be enabled.
• See (2) How to Send an ADJ Command for Adjustment for details on
ADJ for adjustment.
• See (3) How to Send an ADJ Command for Monitoring Data for details
on ADJ for monitoring data.
• A warning will occur and the command will be ignored in the following
cases.
- While editing using SigmaWin or digital operator: Command warning
1 (A.95A)
- CADDRESS is out of the range: Parameter setting warning 1 (A.94A)
- CSIZE does not match: Parameter setting warning 4 (A.94D)
- CCMD and/or CDATA are out of the range: Parameter setting warning
2 (A.94B)
4
5
CCMD CANS
6
7
CADDRESS CADDRESS
8
9
CSIZE
CSIZE/
ERRCODE
10
11
CDATA RDATA
12
13
14
15
16 WDT RWDT
List of Executable Adjustments
Adjustment
Request
Code
Preparation
Before
Execution
Processing
Time
Execution Conditions
Normal mode 0000H None 200 ms max. –
Parameter initialization 1005H None 20 s max.
Initialization is impossible while the servo
is ON.
After initialization, the power supply must
be turned OFF and then ON again.
Absolute encoder reset 1008H Required 5 s max.
When using an incremental encoder, it is
impossible to reset the encoder while the
servo is ON.
After initialization, the power supply must
be turned OFF and then ON again.
Automatic offset adjustment
of motor current detection sig-
nals
100EH None 5 s max.
Adjustment is disabled:
• While the main circuit power supply is
OFF
• While the servo is ON
• While the servomotor is running