YASKAWA
SIEP C730600 86F MECHATROLINK-II Technical Manual
21
No.
(Hex.)
Name
Description
Default
(Range)
F6-25
(03C9)
MECHATROLINK
Watchdog Error Sel
0 : Ramp to Stop
1 : Coast to Stop
2 : Fast Stop (Use C1-09)
3 : Alarm Only
Note:
When you set this parameter to
3
or
4
, the drive will continue operation after it detects a fault.
If you set this parameter to 3 or 4, make sure that you install an emergency stop switch.
1
(0 - 3)
F6-26
(03CA)
MECHATROLINK
bUS
Errors Detected
When the option detects the
bUS
alarm for the number of times set in
F6-26
, it will detect
Option
Communication Error [bUS]
.
2
(2 - 10)
7
Transmission Interface
◆
MECHATROLINK-II Cyclic Transmissions
As a MECHATROLINK-II station, the SI-T3 option exchanges control data and I/O data with a control device.
The option sends response data timed to the reception of command data for the local station address from the
master in each transmission cycle to communicate. The command and response data formats follow the
specifications for the MECHATROLINK Drive commands.
A - Master: MP2300 Controller
(Example)
B - Drive: A1000 (Example)
C - Drive: GA700 (Example)
D - Terminator
◆
Basic Format of Data Transfer
This is the basic format for transferring data:
The size of the header for a data link layer is fixed at two bytes.
By setting, either 17 bytes (17-byte data transmission) or 32 bytes (32-byte data transmission) can be selected as
the data size for the data link layer. If 32-byte data transmission is selected, only the first 29 bytes
are used as
application data.
*1
The first 30 bytes are used only when the INV_I/O sub-command is used.
