26
YASKAWA
SIEP C730600 88F MECHATROLINK-III Technical Manual
Refer to
MECHATROLINK-III Commands on page 26
for more information about command formats.
shows the combinations of main commands and sub-commands.
Table 7.6 Main Commands and Sub-Commands
Code (Hex.)
Main Command
Sub-Command
NOP
(00 (Hex.))
PRM_RD
(01 (Hex.))
PRM_WR
(02 (Hex.))
ALM_RD
(05 (Hex.))
INV_I/O
(51 (Hex.))
00
NOP
OK
OK
OK
OK
OK
01
PRM_RD
OK
-
-
OK
OK
02
PRM_WR
OK
-
-
OK
OK
03
ID_RD
OK
OK
OK
OK
OK
04
CONFIG
OK
-
-
-
-
05
ALM_RD
OK
-
-
-
-
06
ALM_CLR
OK
-
-
-
-
0D
SYNC_SET
OK
OK
OK
OK
OK
0E
CONNECT
OK
-
-
-
-
0F
DISCONNECT
OK
-
-
-
-
50
INV_CTL
OK
OK
OK
OK
OK
Note:
CMD_ALM = B (Hex.) (sub-command combination error) will result if a main command and sub-command conflict with one another.
8
MECHATROLINK-III Commands
◆
Command Control (CMD_CTRL)
bit 7
bit 6
bit 5
bit 4
bit 3
bit 2
bit 1
bit 0
CMD_ID
Reserved (0)
Reserved (0)
ALM_CLR
Reserved (0)
Reserved (0)
Reserved (0)
bit 15
bit 14
bit 13
bit 12
bit 11
bit 10
bit 9
bit 8
Reserved (0)
Command
Description
CMD_ID
This is not used with standard inverter profile commands.
ALM_CLR
0: Clear alarm/warning disabled
1: Clear alarm/warning triggered
The same processing as when ALM_CLR_MODE = 0 for the ALM_CLR command (the current alarm/warning state is cleared) is performed.
◆
Command Status (CMD_STAT)
bit 7
bit 6
bit 5
bit 4
bit 3
bit 2
bit 1
bit 0
RCMD_ID
Reserved (0)
Reserved (0)
ALM_CLR_CMP
CMDRDY
D_WAR
D_ALM
bit 15
bit 14
bit 13
bit 12
bit 11
bit 10
bit 9
bit 8
COMM_ALM
CMD_ALM
Command
Description
RCMD_ID
The slave returns the echo of the CMD_ID as the RCMD_ID.
ALM_CLR_CMP
ALM_CLR_CMP = 1 means that CMD_CTRL.ALM_CLR = 1 has been received and alarm clear processing has been completed.
CMDRDY
0: Other
1: Command reception enabled
D_WAR
0: Normal operation
1: The device is in the warning state.
D_ALM
0: Normal operation
1: The device is in the alarm state.
