24
YASKAWA
SIEP C730600 86F MECHATROLINK-II Technical Manual
Code
(Hex.)
Name
Function
06
ALM_CLR
Clear Alarm or Warning
0D
SYNC_SET
Start Synchronous Communications
0E
CONNECT
Connect
0F
DISCONNECT
Disconnect
40
INV_CTL
Drive Operation Control
Table 7.2 Sub-Command
Code
(Hex.)
Name
Function
00
NOP
No Operation
01
PRM_RD
Read Parameter
02
PRM_WR
Write Parameter
05
ALM_RD
Read Alarm and Warning
41
INV_I/O
Drive I/O Control
Set
F6-21 = 0
to select 32-byte data transmission before you use sub-commands.
If there is a conflict between a request for a main command and a request for a sub-command, the drive will
process the main command request. If the drive is currently processing a main command or a sub-command, the
drive gives priority to the command being processed. If there is a conflict between an INV_CTL main command
and an INV_I/O sub-command, the drive gives priority to the sub-command.
Refer to
MECHATROLINK-II Commands on page 25
for more information about command formats.
shows the combinations of main commands and sub-commands.
Table 7.3 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
(41 (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
-
-
-
-
40
INV_CTL
OK
OK
OK
OK
OK
Note:
If there is a conflict between a main command and a sub-command, it will cause a command warning (A.95).
For more information about the alarm, refer to
