Watchdog Data (Wdt/Rwdt); Command Control (Cmd_Ctrl) - YASKAWA S-7 Series Command Manual

2.2 Command Header Section of Main Command Area

2.2.2 Watchdog Data (WDT/RWDT)

*2.
The standard servo command profile does not use PRM_RD, PRM_WR, PPRM_RD and PPRM_WR, but uses
SVPRM_RD and SVPRM_WR instead.
: Can be executed, Δ: Ignored, ×: Command error, –: Indefinite response data
*3.
Refer to the following section for details.
2.2.2

Watchdog Data (WDT/RWDT)

The details of the watchdog timer (WDT) data in commands and responses are described
below.
Byte 1 of the command/response format is specified as the WDT/RWDT field.
WDT
RWDT
The watchdog data (WDT) is checked after establishing synchronous communications (phase
3).
The watchdog data (RWDT) at the SERVOPACK will be refreshed regardless of the establish-
ment of synchronous communications.
2.2.3

Command Control (CMD_CTRL)

The following describes the command control data.
Byte 2 and byte 3 of the command format are specified as the CMD_CTRL field.
The designation in the CMD_CTRL field is valid even when an alarm specified by CMD_ALM
has occurred.
The CMD_CTRL field is specified as shown below by the communication specification.
bit 7
bit 15
Reserved
ALM_CLR: Clear Alarm/Warning State
 Definition
Clears the alarms and warnings that have occurred in the SERVOPACK.
0: Clear alarm/warning disabled
1: Clear alarm/warning triggered
 Description
Clears the alarm/warning state at the leading edge.
The same processing as when ALM_CLR_MODE = 0 for the ALM_CLR command (the current
alarm/warning state is cleared) is performed.
2-6
1.3 State Transition Diagram on page 1-4.
D7 D4
SN:
Copy of RSN in RWDT
D7 D4
RSN:
Incremented by 1 each
communication cycle
bit 6 bit 5
CMD_ID Reserved
bit 14 bit 13
Reserved Reserved
D3 D0
MN:
Incremented by 1 each
communication cycle
D3 D0
RMN:
Copy of MN in WDT
bit 4 bit 3
Reserved ALM_CLR
bit 12 bit 11
Reserved Reserved
MN:
Master station watchdog timer count
RSN:
SERVOPACK's watchdog timer count
bit 2 bit 1
Reserved Reserved
bit 10 bit 9
Reserved Reserved
bit 0
Reserved
bit 8
Reserved