YASKAWA VIPA IM 053ML Manual page 83

VIPA System SLIO
Data format
Byte Command
0 DATA_RWA (20h)
1 WDT
2 CMD_CTRL
3
4 ... 63 OUTPUT data
4.9.4.12 Data READ/WRITE_S (Synchronous) command DATA_RWS (21h)
Data format
Byte Command
0 DATA_RWS (21h)
1 WDT
2 CMD_CTRL
3
4 ... 63 OUTPUT data
HB300 | IM | 053-1ML00 | en | 18-42
Command classification
n Device group: I/O command group
n Communication type: Asynchronous communication command
Response
DATA_RWA (20h)
RWDT
CMD_STAT
INPUT data
This command updates (synchronously) I/O data.
Confirmation of completion
n Confirm that RCMD = DATA_RWS (21h) and CMD_STAT.CMDRDY = 1
n When CMD_STAT.D_ALM or CMD_STAT.D_WAR = 1, use ALM_RD to read out the
current alarm 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: I/O command group
n Communication type: Synchronous communication command
Response
DATA_RWS (21h)
RWDT
CMD_STAT
INPUT data
MECHATROLINK-III specification > Command detail
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 INPUT data are always updated.
n Can be used in phases 2 and 3.
munication' page 65
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 In phase 2, Ch is set for COM_ALM.
n Can be used in phase 3.
Ä Chap. 4.9.1 'Phases of the communication' page 65
Deployment
Ä Chap. 4.9.1 'Phases of the com-
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