YASKAWA VIPA IM 053ML Manual page 69

VIPA System SLIO
4.9.2.1.5 CMD_STAT
Bit 15 ... 12 Bit 11 ... 8
COMM_ALM CMD_ALM
HB300 | IM | 053-1ML00 | en | 18-42
n Clears the alarm/warning state with edge 0-1.
n The same processing as when ALM_CLR_MODE = 0 for the ALM_CLR command
(the current alarm/warning state is cleared) is performed.
n The ALM_CLR bit is used effectively to clear the COMM_ALM warning state.
CMD_ID: Command ID
n This is not used with standard I/O profile commands.
The following describes the 2 bytes CMD_STAT as part of the MECHATROLINK-III com-
mand format. The CMD_STAT area is specified as shown below by the communication
specification. Note that the designation in this field is valid even when a CMD_ALM has
occurred.
Bit 7 ... 6 Bit 5 ... 4
RCMD_ID Reserved
D_ALM
Value Reference
1 The device is in the alarm state.
0 Other (includes the states corresponding to COMM_ALM or CMD_ALM)
n When a device-specific alarm other than the alarm state specified by COMM_ALM
and CMD_ALM has occurred, the D_ALM status bit is set to 1.
D_ALM is independent of COMM_ALM and CMD_ALM.
n
n When the slave station shifts from the device alarm state to the normal state as a
result of the execution of the ALM_CLR command and CMD_CTRL.ALM_CLR, this
bit is set to 0.
D_WAR
Value Reference
1 The device is in the warning state.
0 Other (includes the states corresponding to COMM_ALM or CMD_ALM)
n The bit that indicates the device warning state of the slave station. When a device-
specific warning other than the warning state specified by COMM_ALM or CMD_ALM
has occurred, the D_WAR status bit is set to 1.
n D_WAR is independent of COMM_ALM and CMD_ALM.
When the slave station shifts from the device warning state to the normal state as a
n
result of the execution of the ALM_CLR command and CMD_CTRL.ALM_CLR, this
bit is set to 0.
CMDRDY
Value Reference
1 Command reception enabled.
0 Other
MECHATROLINK-III specification > Standard IO profile
Bit 3 Bit 2
ALM_CLR_CMP CMDRDY
Deployment
Bit 1 Bit 0
D_WAR D_ALM
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