YASKAWA MECHATROLINK-II SI-T3 Technical Manual page 24

8 MECHATROLINK-II Commands
COM_TIM
In MECHATROLINK-I, COM_TIM was set in multiples of two because the units for COM_TIM were 1 = 1 ms and
transmission cycles were fixed at 2 ms.
2 [ms] ≤ COM_TIM ≤ 64[ms]
When transferring data in 2 ms cycles, set COM_TIM = 2. To use 4 ms cycles, set COM_TIM = 4.
In the following cases, a warning is generated and the command is ignored. Commands are also ignored in phase 2 (with
no alarm).
• If COM_TIM is set out of range: Data setting warning (A.94)
DISCONNECT: 0FH (Disconnect)
Byte
1
2
3, 4
5 to 15
16
The DISCONNECT command is used to close the connection and move to phase 1.
After moving to phase 1, no check for transmission faults is executed. This command can be used in 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: 40H (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 so on.
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 units can be selected with o1-03.
24
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
YASKAWA ELECTRIC SIEP C730600 50A YASKAWA AC Drive-Option Card MECHATROLINK-II Technical Manual
Monitor selected by SEL MON1
Monitor selected by SEL MON2
Table 16.
Response
DISCONNECT
ALARM
STATUS
RWDT
Response
INV_CTL
ALARM
STATUS
Output frequency
Output current
SEL REF1/2
SEL MON1/2
0
RWDT