Common Command Format - YASKAWA S-7 Series Command Manual

2.1

Common Command Format

This section describes the specifications that are common for all commands.
The format that is common for the commands sent from the master station and the responses
returned from slave stations is shown below.
The format of a command can be divided into the main command area (32 bytes) and the sub-
command area (16 bytes). The subcommand area is used to supplement the main command
with another command. Whether the subcommand area is used or not is determined by the
setting of the number of transmission bytes. When the number of transmission bytes is 32, the
subcommand area is not used.
Both the main command area and subcommand area are divided into the command header
section and the command data section.
Fields in the command header section of the main command area
Command: CMD, WDT, CMD_CTRL
Response:
Fields in the command header section of the subcommand area
Command: SUBCMD, SUB_CTRL
Response:
Byte
Main
Command
Area
RCMD, RWDT, CMD_STAT
RSUBCMD, SUB_STAT
Command
0 CMD
1 WDT
2
CMD_CTRL
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
CMD_DATA
18
19
20
21
22
23
24
25
26
27
28
29
30
31
Response
• CMD/RCMD:
RCMD
Command code specified for individual com-
RWDT
mands. Refer to the following section.
2.2.1 Command Code (CMD/RCMD) on page
CMD_STAT
2-5.
• WDT/RWDT: Refer to the following section.
2.2.2 Watchdog Data (WDT/RWDT) on page
2-6.
• CMD_CTRL: Refer to the following section.
2.2.3 Command Control (CMD_CTRL) on
page 2-6.
• CMD_STAT: Refer to the following section.
2.2.4 Command Status (CMD_STAT) on page
2-7.
• CMD_DATA/RSP_DATA:
Specified for individual commands.
RSP_DATA

2.1 Common Command Format

Description
Continued on next page.
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