2 MECHATROLINK-
III
Communications
2.4.2 Operation Sequence When Parameters Are Managed by the SERVOPACK
2-8
2.4.2
Operation Sequence When Parameters Are Managed by the SERVOPACK
The normal operation sequence is performed after the parameters that are required for the machine setup are
set in the SERVOPACK’s non-volatile memory.
(1) Setup Operation Sequence
The setup operation sequence is performed at the first run of the machine.
Note: If you use the SigmaWin for
Σ
-V-SD (MT) to setup the parameters, connect the SigmaWin for
Σ
-V-SD (MT) to the
SERVOPACK after step 1 and set the parameters.
If you use the SigmaWin for
Σ
-V-SD (MT) to write the parameters, the data is written to the SERVOPACK’s non-
volatile memory.
(2) Operation Sequence during Normal Operation
The operation sequence during normal operation is performed when a machine that was previously set up is
operating normally.
Note: If the communications connection is disconnected properly, step 3 is not required. If the communications connection
is not disconnected properly, send the DISCONNECT command for at least two communications cycles before you
establish a connection again, and then send the CONNECT command in step 4.
Step
Operation
Commands Used
1
Turn ON the control and main circuit power supplies.
–
2
Confirm that the SERVOPACK initialization has been completed (i.e., confirm
that SVCMD_STAT.M_RDY = 1).
NOP
3
Disconnect the previous communications connection.
DISCONNECT
4
Establish a communications connection and start counting WDT.
CONNECT
5
Read the device ID and other information.
ID_RD or MEM_RD
6
Read the device settings (e.g., parameters).
SVPRM_RD
7
Set the parameters required for the device.
(Select the non-volatile memory area for the servo parameter write mode.)
SVPRM_WR
8
Disconnect communications.
DISCONNECT
9
Turn OFF the control and main circuit power supplies.
–
Step
Operation
Commands Used
1
Turn ON the control and main circuit power supplies.
–
2
Confirm that the SERVOPACK initialization has been completed.
(Confirm that SVCMD_STAT.M_RDY = 1.)
NOP
3
Disconnect the previous communications connection.
DISCONNECT
4
Establish a communications connection and start counting WDT.
CONNECT
5
Read the device ID and other information.
ID_RD or MEM_RD
6
Read the device settings (e.g., parameters).
SVPRM_RD
7
Turn ON the power supply to the encoder and obtain the position data.
SENS_ON
8
Turn ON the servo.
SV_ON
9
Start operation.
INTERPOLATE,
VELCTRL, etc.
10
Turn OFF the servo.
SV_OFF
11
Disconnect communications.
DISCONNECT
12
Turn OFF the control and main circuit power supplies.
–