YASKAWA SGD7S Product Manual page 425

13.5 Reading and Changing Attributes
13.5.2 Reading and Changing Attributes
13.5.2 Reading and Changing Attributes
You can use messages with explicit messages communications to read or change attributes.
 Basic Format
The following table shows the basic format for explicit messages.
• Commands (Master Device to SERVOPACK)
7
0
0
• Responses (SERVOPACK to Master Device)
7
0
1
 Example of Reading the Acceleration Attribute
The following table shows an example using master device MAC ID of 0 and reading the accel-
eration (class ID 0x25, instance ID 1, and attribute ID 8) with the Get_Attribute_Single service
(service code: 0x0E).
• Commands (Master Device to SERVOPACK)
7
0
0
• Responses (SERVOPACK to Master Device)
7
0
1
Refer to user documentation for the master device for details on explicit messages.
13-32
6 5 4
0/1
Service Data
6 5 4
0/1
Response Service Data
6 5 4
0
6 5 4
0
0x34 (lowermost byte)
0x00 (uppermost byte)
3 2
MAC ID
Service Code
Class ID
Instance ID
Attribute ID
3 2
MAC ID
Service Code
3 2
0
0x0E
0x25
0x01
0x08
3 2
0
0x0E
0x12
0x00
1 0
1 0
1 0
1 0