Command Format - YASKAWA S-7 Series Command Manual

Command Format

2.1 Common Command Format . . . . . . . . . . . . 2-3
2.2 Command Header Section of Main Command Area . . 2-5
2.2.1 Command Code (CMD/RCMD) . . . . . . . . . . . . . . 2-5
2.2.2 Watchdog Data (WDT/RWDT) . . . . . . . . . . . . . . . 2-6
2.2.3 Command Control (CMD_CTRL) . . . . . . . . . . . . . 2-6
2.2.4 Command Status (CMD_STAT) . . . . . . . . . . . . . . 2-7
2.3 Command Header Section of Subcommand Area . . . 2-11
2.3.1 Subcommand Codes
(SUB_CMD/SUB_RCMD) . . . . . . . . . . . . . . . . . 2-11
2.3.2 Subcommand Control (SUB_CTRL) . . . . . . . . . . 2-11
2.3.3 Subcommand Status (SUB_STAT) . . . . . . . . . . . 2-12
2.4 Servo Command Format . . . . . . . . . . . . . . 2-13
2.5 Command Header Section . . . . . . . . . . . . 2-14
2.5.1 Servo Command Control (SVCMD_CTRL) . . . . . 2-14
2.5.2 Servo Command Status (SVCMD_STAT) . . . . . . 2-16
2.5.3 Supplementary Information on CMD_PAUSE
and CMD_CANCEL . . . . . . . . . . . . . . . . . . . . . . 2-18
2.5.4 Supplementary Information on
Latching Operation . . . . . . . . . . . . . . . . . . . . . . 2-21
2.6 Servo Command I/O Signal (SVCMD_IO) . 2-22
2.6.1 Bit Allocation of Servo Command
Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . 2-22
2.6.2 Bit Allocation of Servo Command
I/O Signal Monitoring . . . . . . . . . . . . . . . . . . . . 2-23
2