YASKAWA S-7 Series Command Manual page 73

ID_CODE Description
Supported Communication
Mode
00000002h (Cyclic communication)
20h
The communication mode that the device supports
The communication modes are allocated to the following bits. (Supported: 1, Not sup-
ported: 0)
bit 1: Cyclic communication
MAC Address
21h
Not supported
List of Supported Main Com-
mands
The list of the main commands that the device supports
The commands are allocated as shown below.
bit 0 to 255: 0: Command not supported
1: Command supported
bit7
Reserved
(0)
0
bit15
DISCON-
NECT
1
bit 16 to 23: Reserved (0)
bit31
Reserved
(0)
0
30h
bit39
Reserved Reserved
(0)
0
bit 40 to 47: Reserved (0)
bit55
EX_
FEED
1
bit63
Reserved Reserved
(0)
0
bit71
Reserved Reserved
(0)
0
bit 72 to 255: Reserved (0)
Data Size
4 bytes
32 bytes
bit6 bit5 bit4
ALM_ ALM_
CONFIG
CLR RD
1 1 1
bit14 bit13 bit12
CON- SYNC_ Reserved
NECT SET (0)
1 1 0
bit30 bit29 bit28
MEM_ MEM_ PPRM_W
WR RD R
1 1 0
bit38 bit37 bit36
Reserved SENS_
(0) (0) OFF
0 0 1
bit54 bit53 bit52
INTER-
FEED POSING
POLATE
1 1 1
bit62 bit61 bit60
TRQC-
VELCTRL
(0) TRL
0 1 1
bit70 bit69 bit68
Reserved Reserved
(0) (0) (0)
0 0 0
3.1 Common Commands
3.1.2 Read ID Command (ID_RD: 03h)
Continued from previous page.
Data Type
Binary Data
Array
bit3 bit2 bit1
PRM_
ID_RD PRM_RD
WR
1 0 0
bit11 bit10 bit9
Reserved Reserved Reserved
(0) (0) (0)
0 0 0
bit27 bit26 bit25
PPRM_ Reserved Reserved
RD (0) (0)
0 0 0
bit35 bit34 bit33
SENS_ BRK_
BRK_ON
ON OFF
1 1 1
bit51 bit50 bit49
Reserved
SV_OFF SV_ON
(0)
0 1 1
bit59 bit58 bit57
Reserved EX_
ZRET
(0) POSING
0 1 1
bit67 bit66 bit65
Reserved Reserved SVPRM_
(0) (0) WR
0 0 1
Continued on next page.
Compliance


bit0
NOP
1
bit8
Reserved
(0)
0
bit24
Reserved
(0)
0
bit32
POS_
SET
1
bit48
SMON
1
3
bit56
Reserved
(0)
0
bit64
SVPRM_
RD
1
3-7