YASKAWA S-7 Series, Command Manual, Page: 77 / 191

3.1 Common Commands
3.1.3 Setup Device Command (CONFIG: 04h)
3
Main Command
s
3-11
3.1.3 Setup Device Command (CONFIG: 04h)
Data Format
Phases in which the
Command can be
Executed
2, 3
Command
Classification
Common
command
Asynchronous
command
Processing Time
Refer to the
specifications of
CONFIG_MOD.
Subcommand Cannot be used
Byte
CONFIG
Description
Command Response
0 04h 04h
•
The CONFIG command sets up devices.
•
Confirm the completion of the command execution by
checking that RCMD = CONFIG (= 04h) and
CMD_STAT.CMDRDY = 1, and also checking the setting
for CONFIG_MOD.
•
CMD_STAT:
Indefinite until the completion of the command
In the following cases, an alarm will occur and the com-
mand will not be executed.
•
When the CONFIG_MOD data is invalid:
CMD_ALM = 9h(A.94B)
•
While in the servo ON state:
CMD_ALM = Ah (A.95A) (In MECHATROLINK-II com-
munications, the servo OFF state is established and the
command is executed.)
•
While editing using SigmaWin or digital operator:
CMD_ALM = Ah (A.95A)
1 WDT RWDT
2
CMD_CTRL CMD_STAT
3
4 CONFIG_MOD CONFIG_MOD
5
Reserved Reserved
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31