YASKAWA VS mini V7 User Manual page 31

• MECHATROLINK-I (VER: 10H)
Set the factor of the 2 ms transmission cycle to COM_TIM (communications time).
The setting range satisfies the following formulas.
2 [ms] ≤ COM_TIM ≤ 64 [ms]
COM_TIM is multiplied by a factor of 2.
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_MOD is set out of range: Data setting alarm (A.94)
• If COM_TIM is set out of range: Data setting alarm (A.94)
• If SUBCMD is set to 1 in 17-byte mode: Data setting alarm (A.94)
• If SUBCMD is set to 1 for Ver. 1.0 (VER: 10H): Data setting alarm (A.94)
• If D6, D5, D4, D3, or D0 is set to 1: Data setting alarm (A.94)
For details on the transmission cycle, communications time, and communications phases,
refer to the High-speed Field Network MECHATROLINK System User's Manual (SIE-S800-
26.1).
COM_MOD
D7 D6
SUBCMD 0
Note: If D6, D5, D4, or D0 is set to 1, a warning will be generated (data set-
ting alarm: A.94).
SUBCMD
0: Sub-command not used.
1: Sub-command used.
Note: With MECHATROLINK (VER: 10H), SUBCMD is fixed at 0.
DTMOD (Data Transfer Mode)
00: Single data transfer mode
10/11: Data setting alarm (A.94)
SYNCMOD (Synchronous/Asynchronous Communications)
0: Asynchronous communications. Move to phase 2.
1: Synchronous communications. Move to phase 3.
D5 D4
0 0
31
7 MECHATROLINK-II Commands
D3 D2
DTMOD SYNCMOD
D1 D0
0