Setup Device Command (Config: 04H) - YASKAWA S-7 Series Command Manual

3.1.3

Setup Device Command (CONFIG: 04h)

Data Format
Phases in which the
Command can be
Executed
Processing Time
Byte
Command
0
1
2
CMD_CTRL
3
4 CONFIG_MOD
5
6
7
8
9
10
11
12
13
14
15
16
17
18 Reserved
19
20
21
22
23
24
25
26
27
28
29
30
31
2, 3
Refer to the
specifications of
CONFIG_MOD.
CONFIG
Response
04h 04h
WDT RWDT
CMD_STAT
CONFIG_MOD
Reserved

3.1.3 Setup Device Command (CONFIG: 04h)

Command Common
command
Classification
Subcommand
Description
• The CONFIG command sets up devices.
• Confirm the completion of the command execution by
checking that RCMD = CONFIG (= 04h) and
CMD_STAT.CMDRDY = 1, and also checking the setting
for CONFIG_MOD.
• CMD_STAT:
Indefinite until the completion of the command
In the following cases, an alarm will occur and the com-
mand will not be executed.
• When the CONFIG_MOD data is invalid:
CMD_ALM = 9h(A.94B)
• While in the servo ON state:
CMD_ALM = Ah (A.95A) (In MECHATROLINK-II com-
munications, the servo OFF state is established and the
command is executed.)
• While editing using SigmaWin or digital operator:
CMD_ALM = Ah (A.95A)
3.1 Common Commands
Asynchronous
command
Cannot be used
3
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