Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands Manual do Utilizador Página 109
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5 Command Related Parameters
5.2.6 Acceleration/Deceleration Parameter High-speed Switching Function
5-20
Setting Example 1: Switching three banks of members Pn80B, Pn80E, and Pn80C
Setting Example 2: Switching two banks of members Pn836, Pn83C, and Pn838
[Application Notes]
1. If Pn900 (Parameter Bank Number) or Pn901 (Parameter Bank Member Number) is set to 0, the bank func-
tion will be disabled.
2. If one parameter is registered for more than one bank
m
ember definition, the bank data of the biggest bank
member definition parameter number will be applied.
3. If the bank selector BANK_SEL is not allocated to the function bit of the OPTION field, the data of Bank 0
wi
ll be alway
s applied.
4. The acceleration/deceleration parameter high-speed
switc
hing function is enabled only while DEN = 1
(Distribution Completed). The parameters will not switch while DEN = 0 (Distributing).
5. In the following cases, error A.04A (parameter setting error 2) will occur
when the power
supply is turned
ON or CONFIG command is executed.
• One 4-byte parameter is not registered for two bank members.
•
T
he total number of bank data entries exceeds 64 (Pn900 × Pn901 > 64).
6. If a parameter that is not allowed to be a bank member is
registered,
the bank data of the parameter-regis-
tered member will become invalid.
7. Bank data that exceeds the setting range of the
registered bank
member parameter will be clamped to a
value within the setting range.
8. If a bank number larger than the bank number set in Pn900 is specified (BANK_SEL1≥Pn900
), the param-
eter
bank will not switch and the currently active bank will be used.
9. Parameters Pn920 to Pn95F will not be s
aved in the
non-volatile memory. Therefore, they must be set each
time the power supply is turned ON.
Pn900 = 3
Bank number
Pn901 = 3
Bank number
Pn902 = 80BH
Member 1
Pn903 = 80EH
Member 2
Pn904 = 80CH
Member 3
Pn920 = 80BH value
Pn921 = 80EH value
Pn922 = 80CH value
Pn923 = 80BH value
Pn924 = 80EH value
Pn925 = 80CH value
Pn926 = 80BH value
Pn927 = 80EH value
Pn928 = 80CH value
Bank 0
Bank 1
Bank 2
Pn900 = 2
Pn901 = 6
Pn902 = 836H
Pn903 = 836H
Pn904 = 83CH
Pn920 = 836H LS word
Pn921 = 836H MS word
Pn922 = 83CH LS word
Pn923 = 83CH MS word
Pn924 = 838H LS word
Pn925 = 838H MS word
Bank 0
Pn905= 83CH
Pn906 = 838H
Pn907 = 838H
Pn926 = 836H LS word
Pn927 = 836H MS word
Pn928 = 83CH LS word
Pn929 = 83CH MS word
Pn92A = 838H LS word
Pn92B = 838H MS word
Bank 1
Bank number
Bank number
Member 1
Member 2
Member 3
Member 4
Member 5
Member 6
- Σ-V Series 1
- About this Manual 3
- Warranty 4
- (3) Suitability for Use 5
- (4) Specifications Change 5
- Contents 6
- 1.1.1 Layers 10
- 1.1.2 Frame Structure 10
- MECHATROLINK-II Commands 11
- 1.1.4 Terminology 12
- 1 MECHATROLINK-II Commands 14
- 1.4 Data Order 17
- Operation Sequence 18
- 2.1 Preparing for Operation 19
- Setting the Station Address 20
- 2 Operation Sequence 21
- -J11) are Used 23
- (1) Operation Procedure 25
- Controller 26
- 2.3.1 Setup Sequence 27
- POS: Reference position 31
- 3.2.1 No Operation (NOP: 00H) 34
- (4) Details WDT and RWDT 36
- (1) DISCONNECT Command (0FH) 37
- (1) CONNECT Command (0EH) 38
- (2) Details of COM_MOD 39
- (1) SYNC_SET Command (0DH) 40
- (1) ID_RD Command (03H) 41
- (2) Device ID Specifications 42
- ID_RD aSGDV2R9E11A00 43
- ID_RD bSGDV131J11A00 44
- (1) PRM_WR Command (02H) 45
- (1) PPRM_WR Command (1CH) 46
- (1) CONFIG Command (04H) 47
- (1) SENS_ON Command (23H) 48
- • Applicable Commands: 50
- (1) SV_ON Command (31H) 51
- 3.2 Commands Details 52
- (1) SENS_OFF Command (24H) 54
- (1) SV_OFF Command (32H) 55
- (1) PRM_RD Command (01H) 56
- (1) SMON Command (30H) 57
- (1) ALM_RD Command (05H) 58
- (2) ALM_RD_MOD Specifications 59
- (1) ALM_CLR Command (06H) 60
- (1) POS_SET Command (20H) 61
- (2) PS_SUBCMD Specifications 61
- (1) ADJ Command (3EH) 62
- C01EH reference value 65
- C021H reference value 65
- Motion Commands for Operation 66
- 4.1 Motion Commands List 67
- 4.2.1 Stop Motion (HOLD: 25H) 68
- (2) Related Parameters 69
- (1) LTMOD_ON Command (28H) 70
- (2) Normal Latch Mode 70
- (3) Continuous Latch Mode 71
- (4) LT_SGNL Specifications 72
- (5) Related Parameters 72
- (1) LTMOD_OFF Command (29H) 73
- (1) INTERPOLATE Command (34H) 74
- (1) POSING Command (35H) 76
- (1) FEED Command (36H) 78
- (1) LATCH Command (38H) 80
- (1) EX_POSING Command (39H) 82
- (2) Operation 83
- (3) Related Parameters 83
- 4.2.9 Homing (ZRET: 3AH) 84
- (1) VELCTRL Command (3CH) 86
- Before soft-start 87
- After soft-start 87
- Max. motor speed 87
- Pn305 Pn306 87
- (1) TRQCTRL (3DH) 88
- (2) Speed Limit Option 1 89
- (3) Speed Limit Option 2 89
- 5.2.1 Electronic Gear Setting 93
- Position 94
- (2) Position Reference Filter 96
- 5.2.3 Motion Sequence Setting 99
- 5.2.4 Command Data Options 100
- 5 Command Related Parameters 101
- 5.2.4 Command Data Options 101
- (4) OPTION Field Allocation 102
- (1) Latching Allowable Area 104
- (2) Continuous Latch Function 104
- Command Related Parameters 106
- NEAR Signal Width Setting 111
- (3) Option Monitor Setting 113
- MECHATROLINK-II Subcommands 114
- 6.2.1 No Operation (NOP: 00H) 115
- Data Field 120
- 7.1 Main Command Data Field 121
- (1) Applicable Commands 123
- (2) Setting Method 125
- Applicable Commands 126
- 7.1.6 LT_SGNL Specifications 128
- 7.2 Substatus Data Field 129
- Communications or Commands 130
- 8.1 List of Alarms 131
- 8.1 List of Alarms 132
- 8.2 List of Warnings 133
- 8.2 List of Warnings 134
- Appendix 136
- A Brake Control Commands 137
- • Sub-control (SUBCTRL) 139
- Select Motion (MOTION) 140
- Select Latch Signal (L_SGN) 140
- • Sequence Signals: SQ_CMD 140
- Revision History 141
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