YASKAWA MECHATROLINK-4 JOHB-SMP3, Техническое руководство, Страница: 24 / 54

9 Main Commands
24 YASKAWA SIEP C730600 0NA MECHATROLINK-4 Technical Manual
ID_CODE
(Hex.)
Description Size Description
21 MAC Address 8 byte MAC address of device
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 (When o1-03 = 0 & o1-11 = 2 )
1: 0.01% units (When o1-03 = 1 )
2: min -1 (r/min) units (When o1-03 = 2 )
3: Units in the product specifications (When other than the
above)
4 and above: Reserved
49 Torque Reference Unit 4 byte 0: 0.1% units
4A Output Current Unit 4 byte 0: 0.1 A units
50 Transmission Data Alignment 4 byte 4
51 Number of Command Transmission Data (Minimum Value) 4 byte 8 (32 byte/4 alignment)
52 Number of Command Transmission Data (Maximum Value) 4 byte 24 (96 byte/4 alignment)
53 Number of Command Transmission Data (Current Value) 4 byte
The number of transmission bytes for cyclic communication
that is currently set for the device.
54 Number of Response Transmission Data (Minimum Value) 4 byte 8 (32 byte/4 alignment)
55 Number of Response Transmission Data (Maximum Value) 4 byte 24 (96 byte/4 alignment)
56 Number of Response Transmission Data (Current Value) 4 byte
The number of transmission bytes for cyclic communication
that is currently set for the device.
57 Minimum Transmission Cycle (Unit: 1 nsec) 4 byte 250000 (250 usec)
58 Maximum Transmission Cycle (Unit: 1 nsec) 4 byte 8000000 (8 msec)
59 Minimum Value of Communication Cycle (Unit: 1 nsec) 4 byte 250000 (250 usec)
5A Maximum Value of Communication Cycle (Unit: 1 nsec) 4 byte 32000000 (32 msec)
For details on the ID_CODE, refer to the following document published by the MECHATROLINK Members
Association (MMA).
MECHATROLINK-4 Standard Inverter Profile Command Manual (Manual No: MMATDJP044)
◆
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 18 .
3
4 CONFIG_MOD
Specify the type of setup.
Refer to Table 9.2 for more information.
5
Reserved (0) Not used
6
7
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