Transmission Interface; Mechatrolink-Ii Cyclic Transmissions; Basic Format Of Data Transfer - YASKAWA MECHATROLINK-II SI-T3 Technical Manual

No.
Name
(Hex.)
F6-25 MECHATROLINK
Watchdog Error Sel
(03C9)
F6-26 MECHATROLINK bUS
Errors Detected
(03CA)
7

Transmission Interface

◆

MECHATROLINK-II Cyclic Transmissions

As a MECHATROLINK-II station, the SI-T3 option exchanges control data and I/O data with a control device.
The option sends response data timed to the reception of command data for the local station address from the
master in each transmission cycle to communicate. The command and response data formats follow the
specifications for the MECHATROLINK Drive commands.
A - Master: MP2300 Controller
B - Drive: A1000 (Example)
◆

Basic Format of Data Transfer

This is the basic format for transferring data:
The size of the header for a data link layer is fixed at two bytes.
By setting, either 17 bytes (17-byte data transmission) or 32 bytes (32-byte data transmission) can be selected as
the data size for the data link layer. If 32-byte data transmission is selected, only the first 29 bytes
application data.
*1 The first 30 bytes are used only when the INV_I/O sub-command is used.
YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual
0 : Ramp to Stop
1 : Coast to Stop
2 : Fast Stop (Use C1-09)
3 : Alarm Only
Note:
When you set this parameter to 3 or 4, the drive will continue operation after it detects a fault.
If you set this parameter to 3 or 4, make sure that you install an emergency stop switch.
When the option detects the bUS alarm for the number of times set in F6-26, it will detect Option
Communication Error [bUS].
(Example)
Description
C - Drive: GA700 (Example)
D - Terminator
7 Transmission Interface
Default
(Range)
1
(0 - 3)
2
(2 - 10)
are used as
*1
21