YASKAWA SGD7S-R70A20A023F40B Product Manual page 61

For details on the Connection Request command (CONNECT: 0Eh) and Data Read/Write_A
Information
command (DATA_RWA: 20h), refer to the following document (issued by the MECHA-
TROLINK Members Association).
MECHATROLINK-III Standard I/O Profile Command Manual
Allocations for Other Station Monitoring
Set Pn9B1 to the station address to allocate to other station monitor channel 1.
Other Station Monitor 1: Station Address
Pn9B1 Setting Range
0002 to FEEF
Set Pn9B2 to the number of transmission bytes for other station monitor channel 1.
Other Station Monitor 1: Number of Transmission Bytes
Pn9B2 Setting Range
0 to 4
Set Pn9B3 to specify the contents of data assigned to other station monitor channel 1.
Parameter

n. XX Address offset
 
Pn9B3
n. X Data size (unit: bytes)

n.X Reserved parameter (Do not change.)
The setting of Pn9B3 = n.
Information
tributed I/O device that is used. The data format when you use an R7G4HML3-6-LC2 I/O
Module from M-System Co., Ltd. is given below. This depends on the information in the 6th
to 9th bytes.
Byte
(hexadecimal)
0
20
1
0
2
CMD_CTRL
3
4 0
5
0
6 0
7 0
8 0
9 0
10 to 15 0
Example of parameter settings when you use an R7G4HML3-6-LC2 I/O Module.
Example
Pn9B1 = 0004h (R7G4HML3-6-LC2 station address)
Pn9B2 = 0001h (number of transmission bytes: 16)
Pn9B3 = 1206h (address offset: 6 (input 0), 2 bytes)
Note: If you use an R7G4HML3-6-LC2 I/O Module, always set Pn9B2 to n.
Setting Unit Default Setting
–
Setting Unit Default Setting
–
Meaning

XX depends on the data format of the MECHATROLINK-III dis-
Command Response
(hexadecimal)
20
0
CMD_STAT
Total input lower 8 bits
Total input upper 8 bits
Input 0 lower 8 bits
Input 0 upper 8 bits
Input 1 lower 8 bits
Input 1 upper 8 bits
0
3.6.3 Setting and Checking Other Station Monitoring
When Enabled
0002 After restart
When Enabled
3 After restart
When Enabled
After restart
Remarks
–
–
–
This gives the total for the 6th and 8th bytes
of input 0.
This gives the total for the 7th and 9th bytes
of input 0.
Input 0
Input 1
Not used.

3.6 Setup Procedure
Torque
Classification
Setup
Torque
Classification
Setup
Classification
Setup
1 (16 bytes).
3
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