YASKAWA SI-ET3, Technical Manual

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9 Main Commands
YASKAWA SIEP C730600 88F MECHATROLINK-III Technical Manual 31
ID_RD Response
Byte Response Description
0 ID_RD: 03 (Hex.) Command code
1 RWDT Watchdog data
2
CMD_STAT Refer to page 26 .
3
4 ID_CODE The value set in the command.
5 OFFSET The value set in the command.
6
SIZE The value set in the command.
7
8
ID ID data is stored. Refer to Table 9.1 for more information.
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31
Table 9.1 ID_CODE
ID_CODE
(Hex.)
Description Size Description
01 Vendor ID Code 4 byte 0000 (Hex.)
02 Device Code 4 byte
1000-Series Drives: 04000001 (Hex.)
GA500, GA700, GA800, CR700, and CH700: 04000002
(Hex.)
03 Device Version 4 byte Version information of device
04 Device Definition File Version 4 byte 0000 (Hex.)
05 Extended Address Setting 4 byte 0001 (Hex.) (Multi-slave is not available)
10 Profile type 1 (Primary) 4 byte 0020 (Hex.) (Inverter profile)
11 Profile Version 1 (Primary) 4 byte 0100 (Hex.)
12 Profile type 2 4 byte 00FF (Hex.) (Not available)
13 Profile Version 2 4 byte 0000 (Hex.)
14 Profile type 3 4 byte 00FF (Hex.) (Not available)
15 Profile Version 3 4 byte 0000 (Hex.)
16 Minimum transmission cycle 4 byte 25000 (250 μs) [unit: 0.01 μs]
17 Maximum transmission cycle 4 byte 800000 (8 ms) [unit: 0.01 μs]
18 Transmission Cycle Increment (Granularity) 4 byte
03 (Hex.) (Supports 31.25 [μs], 62.5 [μs], 125 [μs], 250 [μs],
500 [μs], 750 [μs], 1 to 64 [ms] (0.5 ms increment))
19 Minimum Value of Communication Cycle 4 byte 25000 (250 μs) [unit: 0.01 μs]
1A Maximum Value of Communication Cycle 4 byte 3200000 (32 ms) [unit: 0.01 μs]
1B Number of Transmission Bytes 4 byte 00000014 (Hex.) (64 byte, 32 byte)
1C Number of Transmission Bytes (Current Setting) 4 byte
The number of transmission bytes for cyclic communication
that is currently set for the device. (Cyclic communication/
event driven communication)
1D Profile Type (Current Selection) 4 byte
The number of transmission bytes for cyclic communication
that is currently set for the device. This is the profile selected
with the CONNECT command.
20 Supported Communication Mode 4 byte
00000003 (Hex.) (Cyclic communication/event driven
communication)
30 List of Supported Main Commands 32 byte The list of the sub-commands that the device supports.
38 List of Supported Sub-Commands 32 byte The list of the sub-commands that the device supports.
40 List of Supported Common Parameters 32 byte 0
48 Speed reference unit/Output reference unit 4 byte
0: 0.01 Hz units
1: 0.01% units
2: min -1 (r/min) units
3: Units in the product specifications
4 and above: Reserved