YASKAWA MECHATROLINK Sigma 2 Series User Manual

4 MECHATROLINK-II Communications
4.3.5 Set Up Device (CONFIG: 04H)
4-12
4.3.5 Set Up Device (CONFIG: 04H)
* +α refers to the amount of delay that is set by parameter for turning the Servo OFF during brak-
ing control.
 Status and Output Signal during CONFIG Command Execution
Byte CONFIG Description
Command Response
1 04H 04H Processing
classifications
Control com-
mand group
Synchronization
classifications
Asynchronous
2 ALARM Processing time
Within 4 s + α
∗
Subcommand Cannot be used.
3STATUS• Recalculates all currently set parameters and initializes positions, signals, etc.
• Can be used during phases 2 and 3.
• The SERVOPACK will change to Servo OFF if this command is received
when the SERVOPACK is Servo ON.
• A warning will occur and the command will be ignored in the following cases.
- During phase 1: MECHATROLINK-II command warning (A.95)
- If a digital operator is connected: MECHATROLINK-II command warning
(A.95)
- If SigmaWin and so on are connected: MECHATROLINK-II command
warning (A.95)
• The following table shows status and output signal during CONFIG command
execution.
• If communications are in progress with a Digital Operator, a command warn-
ing (A.ED) may occur.
4
5
6
7
8
9
10
11
12
13
14
15
16 WDT RWDT
Status and
Output Signal
Before CONFIG During CONFIG After CONFIG
ALM (status) Current status Current status Current status
CMDRDY (status) 1 0 1
Other status Current status Not specified Current status
ALARM (code) Alarms currently
occurred
Alarms currently
occurred
Alarms currently
occurred
ALM
(CN1 output signal)
Current status Current status Current status
/S-RDY
(CN1 output signal)
Current status OFF Current status
Other output signals Current status Not specified Current status

YASKAWA MECHATROLINK Sigma 2 Series Specifications

General

Brand	YASKAWA
Model	MECHATROLINK Sigma 2 Series
Category	Control Unit
Language	English