YASKAWA MECHATROLINK-4 JOHB-SMP3, Technical Manual, Page: 41 / 54

10 Sub-Command
YASKAWA SIEP C730600 0NA MECHATROLINK-4 Technical Manual 41
Bit Name Description
4 Zero Speed 1: Zero Speed
5 Speed Agree 1: Speed agree
6 Drive Ready 1: Drive ready
7 oPE Error 1: oPE error
9 Fault Reset Signal being Input 1: Fault reset signal being input
10
Power Loss Recovery/Momentary
Power Loss Recovery
0: Power loss recovery
1: Momentary power loss recovery
11 LOCAL/REMOTE
0: LOCAL
1: REMOTE
12 Motor Selection
0: Motor 1
1: Motor 2
13 Zero Servo Complete 1: Zero servo
15 During Run 1: During Run
24 SEL_MON_E1 Status
0: Disabled
1: SEL_MON_E1 enabled
25 SEL_MON_E2 Status
0: Disabled
1: SEL_MON_E2 enabled
26 SEL_MON_E3 Status
0: Disabled
1: SEL_MON_E3 enabled
27 SEL_MON_E4 Status
0: Disabled
1: SEL_MON_E4 enabled
28 SEL_MON_E5 Status
0: Disabled
1: SEL_MON_E5 enabled
29 SEL_MON_E6 Status
0: Disabled
1: SEL_MON_E6 enabled
30 SEL_MON_E7 Status
0: Disabled
1: SEL_MON_E7 enabled
10 Sub-Command
Sub-commands are used as auxiliary function commands for the main command, using 32 bytes from the next
byte after the main command end position in the data field. Therefore, when using sub-commands, the number of
transmission bytes set by the controller must be the size used in the main command, plus 32 bytes.
◆
SUB_CTRL (Sub-Command Control Field)
Table 10.1 SUB_CTRL
bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0
Reserved (0)
bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8
Reserved (0)
bit23 bit22 bit21 bit20 bit19 bit18 bit17 bit16
Reserved (0)
◆
SUB_STAT (Sub-Command Status)
Table 10.2 SUB_STAT
bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0
Not used Reserved (0) SUBCMDRDY Not used
bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8
Reserved (0) SUBCMD_ALM