4.7 Operation Sequence
110
4.7.2 Operation Sequence for Managing Parameters
Using SERVOPACK
When the parameters are managed by SERVOPACK non-volatile memory, the operation is performed
in two steps.
Step 1: Saving Parameters (during Set-up)
* 1. If communication disconnects normally, the NOP command is sent. If communication
does not disconnect normally, the DISCONNECT command is sent for two or more
communications cycles prior to connection, then the CONNECT command is sent.
* 2. Do not use PRM_WR.
Step 2: Ordinary Operation Sequence
* If communication disconnects normally, the NOP command is sent. If communication does not disconnect nor-
mally, the DISCONNECT command is sent for two or more communications cycles prior to connection, then the
CONNECT command is sent.
Proce-
dure
Item
Command
Description
Phase
1
Turn ON control and main
circuit power supplies.
NOP/DISCON-
NECT
*1
−
1
3
Establish connection.
CONNECT
Establish communications.
Start the WDT count.
2 or 3
4
Check information such as
device ID.
ID_RD
Read information such as device
type.
2 or 3
5
Set device.
PPRM_WR
*2
Set the necessary parameters to
non-volatile memory.
2 or 3
6
Disconnect connection.
DISCONNECT
Disconnect communications.
4 to 1
7
Turn OFF control and main
circuit power supplies.
−
−
Proce-
dure
Item
Command
Description
Phase
1
Turn ON control and main
circuit power supplies.
NOP/DISONNECT*
−
1
2
Establish connection.
CONNECT
Establish communications.
Start the WDT count.
2 or 3
3
Check information such as
device ID.
ID_RD
Read information such as device
type.
2 or 3
4
Turn ON encoder.
SENS_ON
Turn ON encoder and obtain the
position data.
2 or 3
5
Turn ON servomotor.
SV_ON
Turn ON servomotor.
2 or 3
6
Start operation.
−
−
2 or 3
7
Turn OFF servomotor.
SV_OFF
Turn OFF servomotor.
2 or 3
8
Disconnect connection.
DISCONNECT
Disconnect communications.
4 to 1
9
Turn OFF control and main
circuit power supplies.
−
−
TOEP_C710806_03A_1_0.book Seite 110 Montag, 2. Juli 2007 3:55 15
