3.2 Servo Commands
3.2.7 Servo ON Command (SV_ON: 31h)
3
Main Command
s
3-33
3.2.7
Servo ON Command (SV_ON: 31h)
Data Format
Phases in which the
Command can be Executed
2, 3
Command
Classification
Servo standard
command
Asynchronous
command
Processing Time
Normally 50 ms
(10 s max.)
Subcommand
Can be used
Byte
SV_ON
Description
Command
Response
0
31h
31h
•
The SV_ON command supplies the power to the servo-
motor and makes it ready for operation.
•
Confirm the completion of the command execution by
checking that RCMD = SV_ON (= 31h) 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.
•
To establish the servo ON state after a warning has
occurred, send a command other than SV_ON, such as
the SV_OFF command, and then send the SV_ON com-
mand.
•
Upon completion of execution of this command, the ref-
erence position (CPOS) must be read, and the controller
coordinate system must be set up.
•
Confirm that M_RDY = 1 before sending this command.
In the following cases, Ah (A.95A) will be set for
CMD_ALM and the command will not be executed.
•
When an alarm (COM_ALM = 8h or greater, or D_ALM =
1) has occurred
•
When PON = 0
•
When the execution of the SENS_ON command has not
completed with an absolute encoder used
•
When ESTP (HWBB signal off) = 1
•
When parameters have been initialized
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
