YASKAWA MECHATROLINK-II SI-T3 Technical Manual page 17

Phase 3: Synchronous communications
Watchdog timer faults in the communications frame are detected. If the DISCONNECT command is received, the phase
moves to phase 1. If a reception fault or a watchdog timer fault is detected, the phase moves to phase 2.
Application Layer Specifications
The data format for the application layer conforms to the MECHATROLINK-II link command specifications.
SI-T3 has the following main commands and sub-commands.
Code
00H
01H
02H
03H
04H
05H
06H
0DH
0EH
0FH
40H
Code
00H
01H
02H
05H
41H
The main commands are used in both the 17-byte and 32-byte data transmissions for MECHATROLINK-II and with
MECHATROLINK-I. The sub-commands can be used only when the 32-byte data transmission (F6-21 = 0) has been
selected. If a conflict occurs between a request for a main command and a request for a sub-command, the request for the
main command is processed. If either a main command or a sub-command is already being processed, the command
being processed is given priority. If an INV_CTL main command and an INV_I/O sub-command conflict, the sub-
command is given priority.
For details on command formats, refer to
The following table shows the combination of Main Commands and Sub-commands.
Code
00H
01H
02H
03H
04H
05H
06H
0DH
0EH
0FH
40H
Note: Command warning (A.95) will result if a main command and sub-command conflict with one another. For details on the alarm,
refer to Other Faults on page
YASKAWA ELECTRIC SIEP C730600 50A YASKAWA AC Drive-Option Card MECHATROLINK-II Technical Manual
Table 5 Main Commands
Name
NOP
PRM_RD
PRM_WR
ID_RD
CONFIG
ALM_RD
ALM_CLR
SYNC_SET
CONNECT
DISCONNECT
INV_CTL
Table 6 Sub-commands
Name
NOP
PRM_RD
PRM_WR
ALM_RD
INV_I/O
MECHATROLINK-II Commands on page
Table 7 Main Command and Sub-command
Main Command
NOP (00H)
NOP
PRM_RD
PRM_WR
ID_RD
CONFIG
ALM_RD
ALM_CLR
SYNC_SET
CONNECT
DISCONNECT
INV_CTL
31.
No Operation
Read Parameter
Write Parameter
Read ID Number
RAM Write and EEPROM Write
Read Alarm and Warning
Clear Alarm and Warning
Start Synchronous Communications
Connect
Disconnect
Drive Operation Control
No Operation
Read Parameter
Write Parameter
Read Alarm and Warning
Drive I/O Control
PRM_RD (01H) PRM_WR (02H) ALM_RD (05H) INV_I/O (41H)
OK OK
OK NG (A.95)
OK NG (A.95)
OK OK
OK NG (A.95)
OK NG (A.95)
OK NG (A.95)
OK OK
OK NG (A.95)
OK NG (A.95)
OK OK
7 Transmission Interface
Function
Function
18.
Sub-command
OK OK
NG (A.95) OK
NG (A.95) OK
OK OK
NG (A.95) NG (A.95)
NG (A.95) NG (A.95)
NG (A.95) NG (A.95)
OK OK
NG (A.95) NG (A.95)
NG (A.95) NG (A.95)
OK OK
OK
OK
OK
OK
NG (A.95)
NG (A.95)
NG (A.95)
OK
NG (A.95)
NG (A.95)
OK
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