YASKAWA MECHATROLINK-4 JOHB-SMP3, Техническое руководство, Страница: 19 / 54

9 Main Commands
YASKAWA SIEP C730600 0NA MECHATROLINK-4 Technical Manual 19
Command Description
RCMD_ID
The slave returns the echo of the CMD_ID as the RCMD_ID.
ALM_CLR_CMP ALM_CLR_CMP = 1 means that CMD_CTRL.ALM_CLR = 1 has been received and alarm clear processing has been completed.
CMDRDY
0: Other
1: Command reception enabled
D_WAR
0: No Fault
1: The device is in the warning state.
D_ALM
0: No Fault
1: The device is in the alarm state.
COMM_ALM
Notifies the communication error state.
COMM_ALM is independent of CMD_ALM, D_ALM and D_WAR. COMM_ALM is cleared at the leading edge of CMD_CTRL.ALM_
CLR or by the ALM_CLR command. Refer to page
19 for more information.
CMD_ALM
Notifies the command error state.
When the option receives a normal command after the occurrence of a command error, CMD_ALM is automatically cleared. Refer to page 19
for more information.
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COMM_ALM
Code (Hex.) Description
- 0000
No Fault
Warning
0001
Frame Check Sequence (FCS) error
0002 Command data not received
0003 Synchronous frame not received
Alarm
0008
Frame Check Sequence (FCS) error
0009
Command data not received
000A
Synchronous frame not received
000B Synchronization interval error
000C
WDT error
000D
CDO setting error
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CMD_ALM
Code (Hex.) Contents
- 0000
Normal
Warning 0001
Invalid data
Alarm
0008
Unsupported command received
0009 Invalid data
000A
Command execution condition error
000B
Sub-command combination error
000C
Phase Error
9 Main Commands
Chapter 9 describes the description when the number of transmission bytes for the main command is set to 64
bytes. When using sub-commands, the number of transmission bytes set by the controller must be the size used in
the main command, plus 32 bytes.
◆
NOP: 00 (Hex.) (No Operation Command)
The NOP command is used for network control. The current state is returned as a response. You can use this
command in all phases.