YASKAWA SGD7S-xxxDA0 series Product Manual page 476

EtherCAT(CoE) Communications Object
Positive torque limit value (60E0h)
Negative torque limit value (60E1h)
Torque offset (60B2h)
SERVOPACK Adjusting Command (2710h)
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
2710h
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
15.5 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
15
15-19