YASKAWA VIPA IM 053ML Manual page 80

Deployment
MECHATROLINK-III specification > Command detail
Data format
Byte Command
0 MEM_RD (1Dh)
1 WDT
2 CMD_CTRL
3
4 Reserved (0)
5 MODE/ DATA_TYPE
6 SIZE
7
8 ... 63 Reserved (0)
80
Confirmation of completion
n Confirm that RCMD = MEM_RD (1Dh), CMD_STAT.CMDRDY = 1 and also the set-
ting for ADDRESS and SIZE of the response.
When CMD_STAT.ALM or CMD_STAT.WAR = 1, use ALM_RD to read out the current
n
alarm or warning code and take appropriate action.
n When CMD_STAT.CMD_ALM or CMD_STAT.COMM_ALM ≠ 0, take appropriate
action according to the codes.
Command classification
n Device group: Common command group
n Communication type: Asynchronous communication command
Response
MEM_RD (1Dh)
RWDT
CMD_STAT
Reserved (0)
MODE/ DATA_TYPE
SIZE
Reserved (0)
MODE/DATA_TYPE: Mode/Data type
Bit 7 Bit 6 Bit 5
MODE
MODE: Read mode
Value Reference
0 Reserved by system
1 Volatile memory
Reads from a volatile memory such as SRAM.
2 Nonvolatile memory (not supported)
Reads from an nonvolatile memory such as E
3 ... F Reserved by system
Ä Chap. 4.9.2.1.5 'CMD_STAT' page 69
Reference
Ä Chap. 4.9.2.1.3 'Watchdog Data (WDT/RWDT)' page 68
Ä Chap. 4.9.2.1.4 'Command Control (CMD_CTRL)' page 68
Ä Chap. 4.9.2.1.5 'CMD_STAT' page 69
n Can be used in phases 2 and 3.
munication' page 65
n If any of the command errors below occur, 9 is set for CMD_ALM
– The MODE data is invalid
– The DATA_TYPE data is invalid
– SIZE > 4
– The ADDRESS data is invalid.
n For errors other than the above, an alarm can be specified in the
product specifications
Example: By allocating the reserved area to read alarms, etc.
Bit 4 Bit 3
DATA_TYPE
VIPA System SLIO
Ä Chap. 4.9.1 'Phases of the com-
Bit 2 Bit 1
2 PROM
HB300 | IM | 053-1ML00 | en | 18-42
Bit 0