Status Monitoring (Smon: 30H) - YASKAWA MECHATROLINK Sigma 2 Series User Manual

4 MECHATROLINK-II Communications

4.3.21 Status Monitoring (SMON: 30H)

4.3.21
Byte
Command
1 30H
2
3
4
5
6
7
8
9
10
11
12
13 SEL_MON 1/2
14
15
16 WDT
17 For
subcommands
18
use. Refer to
19
4.4 Subcom-
mands.
20
21
22
23
24
25
26
27
28
29

Status Monitoring (SMON: 30H)

SMON
Response
30H Processing
classifications
ALARM Processing time
STATUS • Reads the current status of the Servo.
• Can be used during phases 2 and 3.
• During phase 1, a MECHATROLINK-II command warning (A.95) will occur
MONITOR1
and the command will be ignored.
MONITOR2
SEL_MON 1/2
IO_MON
RWDT
For
subcommands
use. Refer to
4.4 Subcom-
mands.
Description
Control com-
mand group
Within communi-
cations cycle
4-28
Synchronization Asynchronous
classifications
Subcommand Can be used.