YASKAWA S7 SERVO_191str_ang.pdf

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-7-Series
AC Servo Drive
MECHATROLINK-III Communications
Standard Servo Profile
Command Manual
MECHATROLINK-III
Communication Settings
Command Format
Main Commands
Subcommands
Operation Sequence
Function/Command Related Parameters
Detecting Alarms/Warnings Related to
Communications or Commands
Common Parameters
Virtual Memory Space
MANUAL NO. SIEP S800001 31C
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Copyright © 2014 YASKAWA ELECTRIC CORPORATION
All rights reserved. No part of this publication may be reproduced, stored in a
retrieval system, or transmitted, in any form, or by any means, mechanical, elec-
tronic, photocopying, recording, or otherwise, without the prior written permission
of Yaskawa. No patent liability is assumed with respect to the use of the informa-
tion contained herein. Moreover, because Yaskawa is constantly striving to
improve its high-quality products, the information contained in this manual is sub-
ject to change without notice. Every precaution has been taken in the preparation
of this manual. Nevertheless, Yaskawa assumes no responsibility for errors or
omissions. Neither is any liability assumed for damages resulting from the use of
the information contained in this publication.
About this Manual
This manual describes the specifications of standard servo profile commands used in MECHA-
TROLINK-III communications for the following MECHATROLINK-III communications reference input
type SERVOPACKs, the basic operations using these commands, and the parameters for these com-
mands.
•
Σ
-7-Series
Σ
-7S SERVOPACKs (Models: SGD7S-

20
)
•
Σ
-7-Series
Σ
-7W SERVOPACKs (Models: SGD7W-

20
)
Read and understand this manual to ensure correct usage of the
Σ-7-Series
AC Servo Drives.
Keep this manual in a safe place so that it can be referred to whenever necessary.
•
Supported Profile Version: Ver. 1.0
•
Targeted Readers
Users who incorporate the standard servo profile commands in controllers
Users who design applications for host controllers that use standard servo profile commands
directly
Outline of Manual
The contents of the chapters of this manual are described in the following table.
Refer to these chapters as required.
Chapter
1
2
3
4
5
6
7
8
9
Chapter Title
MECHATROLINK-III Communication
Settings
Command Format
Main Commands
Subcommands
Operation Sequence
Function/Command Related Parame-
ters
Detecting Alarms/Warnings Related to
Communications or Commands
Common Parameters
Virtual Memory Space
Contents
Provides detailed information on MECHATROLINK-III communi-
cations.
Describes the common specifications for all commands and the
command format.
Provides detailed information on the main commands.
Provides detailed information on the subcommands.
Describes basic operation sequences using MECHATROLINK-III
communications.
Describes the parameter settings required for executing com-
mands and functions.
Describes the alarms and warnings that may occur in MECHA-
TROLINK-III communications.
Provides detailed information on the common parameters.
Provides detailed information on the virtual memory space.
iii
Related Documents
The relationships between the documents that are related to the Servo Drives are shown in the fol-
lowing figure. The numbers in the figure correspond to the numbers in the table on the following
pages. Refer to these documents as required.
System
Machine Controllers
Components
Servo
Drives
Σ
-7-Series
Catalogs
Machine
Controller
and
Servo
Drive
General
Catalog
MP3300
Catalog
Catalog
Machine Controllers
Built-in
Function
Manuals
Option
Module
User’s
Manuals
SERVOPACKs
with Built-in Controllers:
Σ
-7C
Enclosed
Documents
Σ-7-Series
Σ-7C
SERVOPACK
Product
Manual
Built-in
Function
Σ-7-Series
Σ-7C
SERVOPACK
Troubleshoot-
ing Manual
SERVOPACKs:
Σ
-7S and
Σ
-7W
Manuals
Enclosed
Documents
Σ-7-Series
Σ-7S
and
Σ-7W
SERVOPACK
Product
Manuals
Manuals
Σ-7-Series
Σ-7S/Σ-7W
SERVOPACK
Hardware Option
Product Manuals
Σ-7-Series
Σ-7S
and
Σ-7W
SERVOPACK
FT/EX
Product
Manuals
Option
Module
User’s
Manual
Integrated
Servomotors:
Σ
-7F
Servomotors
Enclosed
Documents
Σ-7-Series
Σ-7F
SERVOPACK
Product Manual
Enclosed
Documents
Σ-7-Series
Servomotor
Product
Manuals
Converters
Other Documents
Enclosed
Documents
Σ-7-Series
Peripheral
Device
Selection
Manual
Σ-7-Series
MECHA-
TROLINK
Communica-
tions Command
Manuals
(this manual)
Programming
Manuals
Σ-7-Series
Operation
Interface
Operating
Manuals
Distributed
I/O Module
User’s
Manuals
iv
Classification
Document Name
Machine Controller and
AC Servo Drive
Solutions Catalog
Document No.
Machine Controller and
Servo Drive
General Catalog
KAEP S800001 22
MP3300 Catalog
Machine Controller
MP3300
AC Servo Drives
Σ-7
Series
Σ-7-Series
AC Servo Drive
Σ-7C
SERVOPACK
Motion Control
User’s Manual
KAEP C880725 03
Description
Describes the features and applica-
tion examples for combinations of
MP3000-Series Machine Control-
lers and
Σ-7-Series
AC Servo
Drives.
Provides detailed information on
MP3300 Machine Controllers,
including features and specifica-
tions.
Provides detailed information on
Σ-7-Series
AC Servo Drives, includ-
ing features and specifications.
Provides detailed information on
the specifications, system configu-
ration, and application methods of
the Motion Control Function Mod-
ules (SVD, SVC4, and SVR4) for
Σ-7-Series Σ-7C
SERVOPACKs.
Provides detailed information on
the specifications, system configu-
ration, and communications con-
nection methods for the Ethernet
communications that are used with
MP3000-Series Machine Control-
lers and
Σ-7-Series Σ-7C
SERVO-
PACKs.
Σ-7-Series
Catalog
KAEP S800001 23
SIEP S800002 03
Built-in Function
Manuals
Machine Controller
MP3000 Series
Communications
User’s Manual
SIEP C880725 12
Option Module
User’s Manuals
Machine Controller
MP2000 Series
Communication Module
User’s Manual
Machine Controller
MP2000 Series
262IF-01 FL-net
Communication Module
User’s Manual
Machine Controller
MP2000 Series
263IF-01 EtherNet/IP
Communications Module
User’s Manual
Machine Controller
MP2000 Series
I/O Module
User’s Manual
Machine Controller
MP2000 Series
Analog Input/Analog Output
Module AI-01/AO-01
User’s Manual
Machine Controller
MP2000 Series
Counter Module CNTR-01
User’s Manual
SIEP C880700 04
Provide detailed information on the
specifications and communica-
tions methods for the Communica-
tions Modules that can be mounted
to MP3000-Series Machine Con-
trollers and
Σ-7-Series Σ-7C
SERVOPACKs.
SIEP C880700 36
SIEP C880700 39
SIEP C880700 34
Provide detailed information on the
specifications and communica-
tions methods for the I/O Modules
that can be mounted to MP3000-
Series Machine Controllers and
Σ-7-Series Σ-7C
SERVOPACKs.
SIEP C880700 26
SIEP C880700 27
Continued on next page.
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