Disconnect: 0F (Hex.) (Disconnect); Inv_Ctl: 40 (Hex.) (Drive Operation Control) - YASKAWA MECHATROLINK-II SI-T3 Technical Manual

EXMOD
In the following case, a warning is generated and the command is ignored. Commands are also ignored in phase 2
(with no alarm).
• If COM_MOD is set out of range: Data setting warning (A.94)
• If SUBCMD is set to 1 in 17-byte data transmission: Data setting warning (A.94)
• If SUBCMD is set to 1 for Ver. 1.0 (VER: 10H): Data setting warning (A.94)
• If Bit6, Bit5, Bit4, Bit3, or Bit0 is set to 1: Data setting warning (A.94)
COM_TIM
In MECHATROLINK-I, COM_TIM = 2 the units for COM_TIM were 1 = 1 ms and transmission cycles were
fixed at 2 ms.
If COM_TIM ≠ 2: Data setting warning (A.94)
■

DISCONNECT: 0F (Hex.) (Disconnect)

Byte
1
2
3, 4
5 - 15
16
The DISCONNECT command releases the connection. The communication phase shifts to communication phase
1 after this command is completed.
After moving to phase 1, no check for transmission faults is executed. The command can be used in
communication phases 2 and 3.
If this command is received while in phase 2 or 3, the data for the control command to the Drive is cleared to 0,
and a fault reset command is carried out for the Drive.
■

INV_CTL: 40 (Hex.) (Drive Operation Control)

Byte
1
2
3, 4
5, 6
7, 8
9
10
11, 12
13, 14
15
16
The INV_CTL command is used to set the drive operation signals, speed references, and others. These bytes do
not need to be set every scan.
The settings are saved in the drive until the next data is received or until the power is turned OFF. For details on
operation signals, refer to
The speed reference and the output frequency drives can be selected with o1-03.
YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual
Request to establish expanded/
standard connection
Command
DISCONNECT
0
WDT
Command
INV_CTL
0
Operation signals
Speed reference
Torque reference
SEL REF1/2
SEL MON1/2
Reference selected by SEL REF1
Reference selected by SEL REF2
0
WDT
Table 8.10.
0 Standard connection
Expanded connection
1
Even if SYNCMOD = 1 (synchronous comm.), SYNCMOD will be set to 0 for
asynchronous data transmission.
8 MECHATROLINK-II Commands
Response
DISCONNECT
ALARM
STATUS
RWDT
Response
INV_CTL
ALARM
STATUS
Output frequency
Output current
SEL REF1/2
SEL MON1/2
Monitor selected by SEL MON1
Monitor selected by SEL MON2
0
RWDT
31