YASKAWA S-7 Series Command Manual page 46

RCMD_ID
 Definition
This is the echo-back of the CMD_ID in the CMD_CTRL field of the command data.
 Description
• This is the identification code of the same commands that the slave station has received con-
tiguously.
• Returns the CMD_ID of the command format.
CMD_ALM
 Definition
This bit indicates the validation result of the command.
 Description
• CMD_ALM indicates whether the command is valid or not. The results of validations of the
command codes, and the combinations of commands and the data in the command frame
are notified.
• CMD_ALM is independent of COMM_ALM, D_ALM and D_WAR.
• If a normal command is received after the occurrence of a command error, CMD_ALM is
automatically cleared.
• The phase doesn't change even if the status of CMD_ALM is not "0." The servo ON/OFF
state doesn't change either.
Code
Normal 0 Normal
1 Invalid data
2 –
3 –
Warning 4 –
5 –
6 –
7 –
Unsupported command
8
received
9 Invalid data
Command execution condi-
A
tion error
Subcommand combination
Alarm
B
error
C Phase error
D –
E –
F –
Command error: Data Setting Warning 2 (A.94B) → CMD_ALM = 9h
Example
Check the status of CMD_ALM with the host controller for every communication cycle and per-
form appropriate processing because CMD_ALM will be automatically cleared.
Important
2.2 Command Header Section of Main Command Area
Description
–
The slave station notifies the warning state, but oper-
ates at the specified value or the value on clamping at
the maximum or minimum value.
The slave station notifies the alarm state and the com-
mand is not executed.
2.2.4 Command Status (CMD_STAT)
Remark
2
2-9