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2.2 Command Header Section of Main Command Area
2.2.4 Command Status (CMD_STAT)
COMM_ALM
Definition
This bit indicates the MECHATROLINK communications error status.
Description
• COMM_ALM shows if the data transmission in the physical or application layer has com-
pleted normally or not.
• COMM_ALM is independent of CMD_ALM, D_ALM and D_WAR.
• COMM_ALM is cleared by the ALM_CLR command or CMD_CTRL.ALM_CLR.
Normal
Warning
Alarm
Example
2-10
Code
Description
0
Normal
1
FCS error
2
Command data not received
Synchronous frame not
3
received
4
–
5
–
6
–
7
–
8
FCS error
9
Command data not received
Synchronous frame not
A
received
B
Synchronization interval error
C
WDT error
D
–
E
–
F
–
Communications error (warning):MECHATROLINK Communications Warning (A.960) →
COMM_ALM = 2h
Communications error (alarm):Reception Error in MECHATROLINK Communications (A.E60)
→ COMM_ALM = 9h
Remark
–
Occurs when an error is detected once.
The servo ON state is retained when an error is
detected in the servo ON state.
Error detection method
1:FCS error
The SERVOPACK detects FCS errors.
2:Command data not received
The SERVOPACK detects that command data has not
been received.
3:Synchronous frame not received
The SERVOPACK detects that the synchronous frame
has not been received.
Occurs when an error is detected in the following
detection methods.
• If the system is in communication phase 3, it will shift
to communication phase 2.
• Establishes the servo OFF state.
Error detection method
8, 9, A: Set if an error is detected twice consecutively
using the error detection method for warnings 1, 2
and 3 described above.
B, C: Set immediately upon occurrence of a single
error.
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