YASKAWA S-7 Series, Command Manual, Page: 26 / 191

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4.4 Clear Alarm or Warning Subcommand (ALM_CLR: 06h) . . . . . . 4-5
4.5 Read Memory Subcommand (MEM_RD: 1Dh) . . . . . . . . . . . . . . 4-6
4.6 Write Memory Subcommand (MEM_WR: 1Eh) . . . . . . . . . . . . . . 4-7
4.7 Servo Status Monitor Subcommand (SMON: 30h) . . . . . . . . . . . 4-8
4.8 Read Servo Parameter Subcommand (SVPRM_RD: 40h) . . . . . 4-9
4.9 Write Servo Parameter Subcommand (SVPRM_WR: 41h) . . . . 4-10
Operation Sequence
5
5.1 Preparing for Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5.1.1 Setting MECHATROLINK-III Communications . . . . . . . . . . . . . . . . . . . . . . .5-2
5.1.2 Checking the Communications Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-4
5.2 Parameter Management and Operation Sequence . . . . . . . . . . 5-6
5.2.1 Operation Sequence for Managing Parameters Using a Controller . . . . . . . .5-6
5.2.2 Operation Sequence for Managing Parameters Using a SERVOPACK . . . . .5-7
5.3 Setting the Zero Point before Starting Operation . . . . . . . . . . . 5-8
5.4 Operation Sequence when Turning the Servo ON . . . . . . . . . . . 5-9
5.5 Operation Sequence when OT (Overtravel Limit Switch) Signal is Input . . 5-10
5.6 Operation Sequence at Emergency Stop (Main Circuit OFF). . 5-11
5.7 Operation Sequence when a Safety Signal is Input . . . . . . . . . 5-12
5.8 Operation Sequence at Occurrence of Alarm . . . . . . . . . . . . . 5-14
5.9 Notes when the Positioning Completed State (PSET = 1) is Established while Canceling a Motion Command . . 5-15
Function/Command Related Parameters
6
6.1 Position Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
6.1.1 Interpolation Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-2
6.1.2 Positioning Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-2
6.2 Torque Limiting Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
6.3 Torque Feedforward Function . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
6.3.1 Relationship between the Host Controller and SERVOPACK . . . . . . . . . . . .6-7
6.3.2 Setting Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-8