32
YASKAWA
SIEP C730600 88F MECHATROLINK-III Technical Manual
ID_CODE
(Hex.)
Description
Size
Description
49
Torque Reference Unit
4 byte
0: 0.1% units
4A
Output Current Unit
4 byte
0: 0.1 A units
Access the MECHATROLINK Members Association web site http://www.mechatrolink.org/ for details on the
ID_CODE.
◆
CONFIG: 04 (Hex.) (Setup Device Command)
The CONFIG command forces the parameters written using PRM_WR to become effective, and optionally stores
the parameters into EEPROM. The command can be used in communication phases 2 and 3.
CONFIG Command
Byte
Command
Description
0
CONFIG (04 (Hex.))
Command code
1
WDT
Watchdog data
2
CMD_CTRL
Refer to page
3
4
CONFIG_MOD
Specify the type of setup.
Refer to
for more information.
5
Reserved (0)
Not used
6
7
・
・
31
CONFIG Response
Byte
Response
Description
0
CONFIG (04 (Hex.))
Command code
1
RWDT
Watchdog data
2
CMD_STAT
Refer to page
3
4
CONFIG_MOD
The value set in the command.
5
Reserved (0)
Not used
6
7
・
・
31
Table 9.2 CONFIG_MOD
CONFIG_MOD
Description
0
RAM Write
The setting value is not stored in EEPROM.
1
The setting value is stored in EEPROM.
Note:
The EEPROM can only be written to 100,000 times, so it is recommended to limit the number of times writing to the
EEPROM. Change all the parameters then issue the CONFIG command.
