YASKAWA MECHATROLINK Sigma 2 Series - Turn Sensor on (SENS_ON: 23 H)

4.3 Main Commands
4-23
4
4.3.16 Turn Sensor ON (SENS_ON: 23H):
Byte SENS_ON Description
Command Response
1 23H 23H Processing
classifications
Control com-
mand group
Synchronization
classifications
Asynchronous
2 ALARM Processing time Within 2 sec Subcommand Cannot be used.
3STATUS• Obtains the initial position data when an absolute encoder is used.
• Position data is received from the encoder and the current position is created.
• The reference point, zero point (ZPOINT), and software limits will be enabled
when an absolute encoder is used.
• Can be used during phases 2 and 3.
• If an incremental encoder is being used, the command will be ignored.
• During phase 1, a MECHATROLINK-II command warning (A.95) will occur
and the command will be ignored.
4
5 MONITOR 1
6
7
8
9 MONITOR 2
10
11
12
13 SEL_MON 1/2 SEL_MON 1/2
14 IO_MON
15
16 WDT RWDT