YASKAWA MECHATROLINK Sigma 2 Series User Manual page 209

A.2 MECHATROLINK-II Command Format List
The command formats for MECHATROLINK-II commands are shown in the following table.
Byte NOP
Command Response Command
1 00H 00H 01H
2 ALARM
3 STATUS
4
5 NO
6
7 SIZE
8
9
10
11
12
13
14
15
16 WDT RWDT WDT
17
18
19
20
21
22
23
24
25
26
27
28
29
Table A.3 Common Command Format
PRM_RD PRM_WR
Response Command Response
01H 02H
ALARM
STATUS
NO NO
SIZE SIZE
PARAMETER PARAMETER PARAMETER
RWDT WDT
ID_RD
Command Response Command Response Command
02H 03H 03H
ALARM ALARM
STATUS STATUS
NO DEVICE_ DEVICE_
COD COD
OFFSET OFFSET
SIZE SIZE SIZE
ID
RWDT WDT RWDT
CONFIG ALM_RD
Response
04H 04H 05H
ALARM ALARM
STATUS STATUS
ALM_RD_ ALM_RD_
MOD MOD
ALM_
DATA
WDT RWDT WDT RWDT
05H