YASKAWA SGD7S-1R9D Product Manual page 450

EtherCAT(CoE) Communications Object
Positive torque limit value (60E0 hex)
Negative torque limit value (60E1 hex)
Torque offset (60B2 hex)
SERVOPACK Adjusting Command (2710 Hex)
This object is used for SERVOPACK adjustment services (e.g., encoder setup or multiturn
reset). Write data to subindex 1 to start command execution. Also, read the subindex 3 to
obtain the response. If you cannot obtain the response by reading subindex 3, the first byte of
the response data will give information about the progress of execution.
Subin-
Index
dex
0 Number of entries
1 Command
2710 hex
2 Status
3 Reply
 Command/Response Data Format
Command Data (Service Request Data)
Byte Description
0 Reserved.
1 Reserved.
CCMD (command code)
2 00: Read request
01: Write request
3 CSIZE (CDATA data byte size)
4 to 7 CADDRESS (address)
8 to 15 CDATA (writing data)
Continued from previous page.
Data Type
UINT
UINT
INT
Data
Name Access
Type
USINT
STRING
USINT
STRING
14.5 Manufacturer-Specific Objects
PDO
Value
Mapping
RO No 3
Bytes 0 to n: Service
Request Data
The command is
RW No
executed when
command data is
written.
0: Command com-
pleted, no errors,
and no response
data
1: Command com-
pleted, no errors,
and response
data provided
RO No 2: Command com-
pleted, error, and
no response data
3: Command com-
pleted, error,
response data
provided
255: Command is
being executed
Byte 0: Subindex 2
Byte 1: Not used
RO No 2 to n: Service
response
data
Response Data (Service Response Data)
Byte Description
0 Status (Same data as subindex 2)
1 Reserved.
2 RCMD (echoback of CCMD)
3 RSIZE (R_DATA data byte size)
4 to 7 RADDRESS (echoback of CADDRESS)
8 to 15 RDATA (read data)/ERROCODE
Saving to
EEPROM
No
No
No
No
14
14-19