Phase 1: Initial Status After Power On; Phase 2: Asynchronous Communications; Phase 3: Synchronous Communications; Application Layer Specifications - YASKAWA MECHATROLINK-II SI-T3 Technical Manual

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Phase 1: Initial status after power ON

Operation proceeds with a default transmission cycle of 2 ms. Operation proceeds with a default transmission
cycle of 2 ms. The transmission cycle is changed to the time indicated in the synchronous frame when a
CONNECT command is received from the master. Then the phase moves to phase 2 or phase 3 after a response to
the CONNECT command is returned.
Even if a transfer fault is detected in phase 1, no fault notification is provided.
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Phase 2: Asynchronous communications

You can use all SI-T3 commands. Phase 2 starts to count the watchdog timer in the communications frame The
phase moves to phase 3 when a SYNC_SET command is received, and it moves to phase 1 when a
DISCONNECT command is received. If the drive receives the DISCONNECT command, the phase moves to
phase 1.
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Phase 3: Synchronous communications

Watchdog timer faults in the communications frame are detected. The phase moves to phase 1 if the
DISCONNECT command is received. The phase moves to phase 2 if a reception fault or a watchdog timer fault is
detected.
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Application Layer Specifications

The data format for the application layer conforms to the MECHATROLINK-II command specifications for
standard inverter profile.
The SI-T3 option uses the main commands and sub-commands in the following tables.
Code
(Hex.)
00
01 PRM_RD
02 PRM_WR
03 ID_RD
04 CONFIG
05 ALM_RD
YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual
Figure 7.3 Communication Phases
Table 7.1 Main Command
Name
No Operation
NOP
Read Parameter
Write Parameter
Read ID Number
RAM Write and EEPROM Write
Read Alarm and Warning
7 Transmission Interface
Function
23