YASKAWA S-7 Series, Command Manual, Page: 96 / 191

3.2 Servo Commands
3.2.4 Turn Sensor ON Command (SENS_ON: 23h)
3-30
3.2.4 Turn Sensor ON Command (SENS_ON: 23h)
Data Format
Phases in which the
Command can be Executed
2, 3
Command
Classification
Common
command
Asynchronous
command
Processing Time Within 2 s Subcommand Cannot be used
Byte
SENS_ON
Description
Command Response
0 23h 23h
•
The SENS_ON command is the sensor information ini-
tialization request command. It initializes the sensor.
•
Confirm the completion of the command execution by
checking that RCMD = SENS_ON (= 23h) and
CMD_STAT.CMDRDY = 1.
•
CPRM_SEL_MON1/CPRM_SEL_MON2:
Monitor data can be selected by changing the common
parameter setting. Refer to the following chapter for
details.
Chapter 8 Common Parameters .
•
When an absolute encoder is used, the initial position is
acquired from the encoder.
The current position is taken to be: acquired encoder
po zero point position offset (common parame-
ter 23).
The coordinate reference point setting is confirmed and
the ZPOINT (zero point position) and software limit
become effective.
•
When an incremental encoder is used, only a response
is returned without processing.
1 WDT RWDT
2
CMD_CTRL CMD_STAT
3
4
SVCMD_CTRL SVCMD_STAT
5
6
7
8
SVCMD_IO SVCMD_IO
9
10
11
12
Reserved
CPRM_SEL_
MON1
13
14
15
16
CPRM_SEL_
MON2
17
18
19
20
MONITOR1
21
22
23
24
MONITOR2
25
26
27
28
MONITOR3
29
30
31