Transmission Interface - YASKAWA MECHATROLINK-II SI-T3 Technical Manual

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Transmission Interface

MECHATROLINK-II Cyclic Transmissions
As a MECHATROLINK-I/MECHATROLINK-II station, the SI-T3 exchanges control data and I/O data with a control
device, such as a controller. Communications with the master are executed by sending response data timed to the
reception of command data for the local station address from the master in each transmission cycle. The formats for the
command and response data follow the specifications for the MECHATROLINK Drive commands.
Master: MP2300 Controller (Example)
Basic Format of Data Transfer
The basic format for transferring data is as follows.
The size of the header for a data link layer is fixed at two bytes.
By setting, either 17 bytes (17-byte data transmission) or 32 bytes (32-byte data transmission) can be selected as the data
size for the data link layer. If 32-byte data transmission is selected, only the first 29 bytes
data.
<1> The first 30 bytes are used only when the INV_I/O sub-command is used.
Figure 5
YASKAWA ELECTRIC SIEP C730600 50A YASKAWA AC Drive-Option Card MECHATROLINK-II Technical Manual
MP2300
YASKAWA
RDY RUN
ALM ERR
TX BAT
STOP
SUP
INT
CNFG
MON
SW1
TEST
OFF ON
M-I/II
BATTERY
CPU I/O
DC24V
DC 0V
Command data
+00H Station address
+01H
Control code
+02H Command code
−
+03H
+04H
Data
+11H
WDT
+12H
Figure 6 Basic format of data transfer (17-byte data transmission)
Terminator
Response data
+00H Station address Header of
data link layer
+01H
Control code
+02H Response code
+03H
Alarm
+04H
Status
Data link layer data
and application layer
+06H
Data
+11H
EWDT
+12H
7 Transmission Interface
are used as application
<1>
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