4.7 Operation Sequence
109
4.7
Operation Sequence
This section describes outline of the operation sequence.
For details of command functions and settings, refer to
4.2 Main Commands
and
4.3 Subcommands
.
4.7.1 Operation Sequence for Managing Parameters Using a
Controller
When the parameters are managed by a controller, the parameters are transmitted to a controller
when the power is turned ON.
With this operation sequence, the settings of the SERVOPACK do not need to be changed when the
SERVOPACK is replaced. The following table shows the procedure.
* 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/DISCONNECT*
−
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
Set device.
PRM_WR
Set the necessary parameters.
2 or 3
5
Set up device.
CONFIG
Enable the parameter settings.
2 or 3
6
Turn ON encoder.
SENS_ON
Turn ON encoder and obtain the
position data.
2 or 3
7
Operate main circuit.
SV_ON
Turn ON servomotor.
2 or 3
8
Start operation.
−
−
2 or 3
9
Turn OFF servomotor.
SV_OFF
Turn OFF servomotor.
2 or 3
10
Disconnect connection.
DISCONNECT
Disconnect communications.
4 to 1
11
Turn OFF control and main
circuit power supplies.
−
−
5
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