Alm_Rd: 05 (Hex.) (Read Alarm And Warning); Inv_I/O: 41 (Hex.) (Drive I/O Control); Status - YASKAWA MECHATROLINK-II SI-T3 Technical Manual

• During a Uv error: Command warning (A.95)
• While using the keypad to change settings: Command warning (A.95)
• If not in phase 2 or 3: Command warning (A.95)
• If a main command is PRM_RD or PRM_WR: Command warning (A.95)
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ALM_RD: 05 (Hex.) (Read Alarm and Warning)

Byte
17
18
19
20 - 21
The ALM_RD sub-command is used to read the fault and alarm status. his sub-command functions in the same
way as the ALM_RD main command.
In the following case, a warning is generated and the command is ignored.
• If ALM_RD_MOD is other than a set value: Data setting warning (A.94)
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INV_I/O: 41 (Hex.) (Drive I/O Control)

Byte
17
18
19
20
21
22
23, 24
25, 26
27, 28
29, 30
The INV_I/O sub-command is used to select the type of output from the Drive's terminals and refers to the values
from the Drive's internal monitors.
These settings 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.
Use the SEL REF3/4 command to select the contents of REF3 with bits 0 to 3 and to select the contents of REF4
with bits 4 to 7.
Use the SEL REF5/6 command to select the contents of REF5 with bits 0 to 3 and to select the contents of REF6
with bits 4 to 7.
Refer to Table 8.11 for more information on the selection range for SEL REF 3 to 6.
Use the SEL MON3/4 command to select the contents of MON3 with bits 0 to 3 and to select the contents of
MON4 with bits 4 to 7.
Use the SEL MON5/6 command to select the contents of MON5 with bits 0 to 3 and to select the contents of
MON6 with bits 4 to 7.
Refer to Table 8.12 for more information on the selection range for SEL MON 3 to 6.
In the following case, a warning is generated and the command is ignored.
• If not in phase 2 or 3: Command warning (A.95)
◆

Status

This section describes the STATUS field for main commands and the SUBSTATUS field for sub-commands.
YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual
Command
ALM_RD
0
ALM_RD_MOD
0
Sub-Command
INV_I/O
0
SEL REF3/4
SEL REF5/6
SEL MON3/4
SEL MON5/6
Reference selected by SEL REF3
Reference selected by SEL REF4
Reference selected by SEL REF5
Reference selected by SEL REF6
8 MECHATROLINK-II Commands
Response
ALM_RD
SUBSTATUS
ALM_RD_MOD
ALM_DATA
Response
INV_I/O
SUBSTATUS
SEL REF3/4
SEL REF5/6
SEL MON3/4
SEL MON5/6
Monitor selected by SEL MON3
Monitor selected by SEL MON4
Monitor selected by SEL MON5
Monitor selected by SEL MON6
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