Alm_Clr: 06 (Hex.) (Clear Alarm And Warning); Sync_Set: 0Dh (Hex.) (Start Synchronous Communications) - YASKAWA MECHATROLINK-II SI-T3 Technical Manual

• If ALM_RD_MOD is set to 1: Fault code (1 byte) is entered to byte 6 of ALM_DATA, and byte 7 becomes the
value of the previous fault.
• When ALM_RD_MOD is set to 2: Fault code detected by the value set by the Alarm Index +1 is entered to
bytes 7 and 8.
During normal operation (i.e., when no fault has occurred), the value is 00 (Hex.).
ALM_RD_MOD
Present fault (byte 6), past fault (byte 7)
0
Fault history trace 10 max. (byte 6 to 15)
1
Fault history (Alarms are not retained in the history.)
2
(bytes 7 and 8)
■

ALM_CLR: 06 (Hex.) (Clear Alarm and Warning)

Byte
1
2
3, 4
5
6 - 15
16
The ALM_CLR command clears the alarm or warning state after the cause has been removed.
This command changes the state of a slave station; it does not remove the cause of a fault. After the cause of the
alarm or warning has been removed, this command is then used to clear the status of the alarm or warning.
In the following case, a warning is generated and the command is ignored.
• If ALM_CLR_MOD is other than a set value: Data setting warning (A.94)
• If not in phase 2 or 3: Command warning (A.95)
ALM_CLR_MOD
0 Clears the status of present faults and alarms.
Note:
Drive faults and alarms cannot be reset while the Drive RUN command is ON.
■

SYNC_SET: 0DH (Hex.) (Start Synchronous Communications)

Byte
1
2
3, 4
5 - 15
16
The SYNC_SET command is used to request the start of synchronous communications. After this command is
issued, synchronous communications are carried out. If communications become asynchronous due to any fault
such as a communications fault, this command can be used to restore synchronous communications.
Only the ALARM and STATUS fields of the response data can be monitored.
In the following case, a warning is generated and the command is ignored.
• If not in phase 2 or 3: Command warning (A.95)
YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual
Table 8.8 ALM_DATA
ALM_DATA
Command
ALM_CLR
0
ALM_CLR_MOD
0
WDT
Table 8.9 ALM_CLR_MOD
Command
SYNC_SET
0
WDT
8 MECHATROLINK-II Commands
Max. Processing Time
0.1 s
0.1 s
0.1 s
Response
ALM_CLR
ALARM
STATUS
ALM_CLR_MOD
0
RWDT
Description
Response
SYNC_SET
ALARM
STATUS
0
RWDT
Parameter No.
U2-01, U2-02
U3-01 - U3-10
U3-01 - U3-10
29