Subcommand Status (Sub_Stat) - YASKAWA S-7 Series Command Manual

Mechatrolink-iii ac servo drive communications standard servo profile
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2.3 Command Header Section of Subcommand Area

2.3.3 Subcommand Status (SUB_STAT)

Details of Control Bits
The following table shows the details of the control bits.
Bit
12 to
15
16 to
19
20 to
23
2.3.3
Subcommand Status (SUB_STAT)
The following describes the subcommand status of responses.
Byte 33 to byte 35 of the response format are specified as the SUB_STAT field.
The SUB_STAT field is specified as shown below by the communication specification.
SUB_STAT Field
bit 7
bit 15
bit 23
Details of Status Bits
The following table shows the details of the status bits.
Bit
8 to 11
12 to 15
16 to 19
20 to 23
*
When no subcommand is used, the SUBCMDRDY status bit is set to "1."
2-12
Name
Description
SEL_MON4 Monitor selection 4 0 to 15 Selects the monitor information with the setting value.
SEL_MON5 Monitor selection 5 0 to 15 Selects the monitor information with the setting value.
SEL_MON6 Monitor selection 6 0 to 15 Selects the monitor information with the setting value.
bit 6
bit 5
Reserved
bit 14
bit 13
SEL_MON4
bit 22
bit 21
SEL_MON6
Name
2
SUBCMDRDY*
SUBCMD_ALM
SEL_MON4
SEL_MON5
SEL_MON6
Value
bit 4
bit 3
Reserved
Reserved
bit 12
bit 11
bit 20
bit 19
Description
Subcommand ready
Subcommand alarm
Monitor selection 4
Monitor selection 5
Monitor selection 6
Setting
bit 2
bit 1
SUBCMDRDY
Reserved
bit 10
bit 9
SUBCMD_ALM
bit 18
bit 17
SEL_MON5
Value
Setting
1
Subcommand reception enabled
0
Other
Refer to the following section.
0 to 15
2.2.4 Command Status
(CMD_STAT) on page 2-7.
Indicates the selected monitor
0 to 15
information. (Copy of the command)
Indicates the selected monitor
0 to 15
information. (Copy of the command)
Indicates the selected monitor
0 to 15
information. (Copy of the command)
bit 0
Reserved
bit 8
bit 16

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