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-oooo20o)•Σ-7-Series Σ-7W SERVOPACKs (Models: SGD7W-oooo20o)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 ReadersUsers who incorporate the standard servo profile commands in controllersUsers who design applications for host controllers that use standard servo profile commands directly.

 

 

 

The contents of the chapters of this manual are described in the following table.Refer to these chapters as required.ChapterChapter TitleContents1MECHATROLINK-III Communication SettingsProvides detailed information on MECHATROLINK-III communi-cations.2Command FormatDescribes the common specifications for all commands and the command format.3Main CommandsProvides detailed information on the main commands.4SubcommandsProvides detailed information on the subcommands.5Operation SequenceDescribes basic operation sequences using MECHATROLINK-III communications.6Function/Command Related Parame-tersDescribes the parameter settings required for executing com-mands and functions.7Detecting Alarms/Warnings Related to Communications or CommandsDescribes the alarms and warnings that may occur in MECHA-TROLINK-III communications.8Common ParametersProvides detailed information on the common parameters.9Virtual Memory SpaceProvides detailed information on the virtual memory space.

 

 

 

Used in This ManualThe following terms are used in this manual.uDifferences in Terms for Rotary Servomotors and Linear ServomotorsThere are differences in the terms that are used for Rotary Servomotors and Linear Servomotors. This manual primarily describes Rotary Servomotors. If you are using a Linear Servomotor, you need to interpret the terms as given in the following table.Basic TermMeaningTransmission CycleThe transmission cycle is the cycle in the MAC (Media Access Control) layer. It is the communication cycle for physically sending data to the transmission path. The transmis-sion cycle is unaffected by the services provided by the application layer.Communication CycleThe communication cycle is the cycle for application layer. The communication cycle is set to an integral multiple of the transmission cycle.Synchronous Commands (Classification S)For commands of this type, commands are sent and response are received every com-munication cycle.The WDT (Watchdog Timer) in the frames are refreshed and checked every communica-tion cycle. Synchronous commands can be used only during synchronous communica-tions (Phase 3).Asynchronous Com-mands (Classification A)For commands of this type, commands are sent and response are received asynchro-nously to the communication cycle.Subsequent commands can be sent after confirming the completion of processing of the slave station that received the command.The WDT (Watchdog Timer) in the frames are not checked.Common CommandsCommands that are common for MECHATROLINK-III communications, independent of profilesServo CommandsCommands that are defined in the standard servo profile and specific to SERVOPACKsMotion CommandsAmong servo commands, the following commands are called motion commands.INTERPOLATE, POSING, FEED, EX_FEED, EX_POSING, ZRET, VELCTRL, and TRQC-TRL

 

 

 

Be sure that you fully understand each command and use the commands in the order appropriate for your application.Incorrect usage of the commands can result not only unexpected motions, but in a seri-ous accident.Special care and verification must be taken for usage of the commands in order to avoid accidents.Be sure to also establish safety measures for the system.This manual does not apply to users who use MP-series motion controllers for con-trolling Σ-7-Series SERVOPACKs.Rotary ServomotorsLinear Servomotorstorqueforcemoment of inertiamassrotationmovementforward rotation and reverse rotationforward movement and reverse movementCW and CCW pulse trainsforward and reverse pulse trainsrotary encoderlinear encoderabsolute rotary encoderabsolute linear encoderincremental rotary encoderincremental linear encoderunit: min-1unit: mm/sunit: N·munit: N