YASKAWA MECHATROLINK-II SI-T3 Technical Manual page 24

7 Transmission Interface
Code
Name
(Hex.)
06 ALM_CLR
0D SYNC_SET
0E CONNECT
0F DISCONNECT
40 INV_CTL
Code
Name
(Hex.)
00
01 PRM_RD
02 PRM_WR
05 ALM_RD
41 INV_I/O
Set F6-21 = 0 to select 32-byte data transmission before you use sub-commands.
If there is a conflict between a request for a main command and a request for a sub-command, the drive will
process the main command request. If the drive is currently processing a main command or a sub-command, the
drive gives priority to the command being processed. If there is a conflict between an INV_CTL main command
and an INV_I/O sub-command, the drive gives priority to the sub-command.
Refer to MECHATROLINK-II Commands on page 25
shows the combinations of main commands and sub-commands.
Code
(Hex.)
00
01
02
03
04
05
06
0D
0E
0F
40
Note:
If there is a conflict between a main command and a sub-command, it will cause a command warning (A.95).
For more information about the alarm, refer to
24
Clear Alarm or Warning
Start Synchronous Communications
Connect
Disconnect
Drive Operation Control
Table 7.2 Sub-Command
No Operation
NOP
Read Parameter
Write Parameter
Read Alarm and Warning
Drive I/O Control
Table 7.3 Main Commands and Sub-Commands
Main Command
NOP
(00 (Hex.))
NOP OK
PRM_RD OK
PRM_WR OK
ID_RD OK
CONFIG OK
ALM_RD OK
ALM_CLR OK
SYNC_SET OK
CONNECT OK
DISCONNECT OK
INV_CTL OK
Other Faults on page
Function
Function
for more information about command formats.
Sub-Command
PRM_RD PRM_WR
(01 (Hex.)) (02 (Hex.))
OK OK
- -
- -
OK OK
- -
- -
- -
OK OK
- -
- -
OK OK
38.
YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual
Table 7.3
ALM_RD INV_I/O
(05 (Hex.)) (41 (Hex.))
OK OK
OK OK
OK OK
OK OK
- -
- -
- -
OK OK
- -
- -
OK OK