YASKAWA SI-T3 MECHATROLINK-II A1000 Series, Техническое руководство

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8 MECHATROLINK-II Commands
28 YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual
Byte Command Response
6 - 15 0 0
16 WDT RWDT
The CONFIG command enables the data for which parameters have been written.
Error codes such as matching of parameters cannot be checked by the responses to this command. They must be
checked with the STATUS oPE fault bit of the status field. The command can be used in communication phases 2
and 3.
In the following case, a warning is generated and the command is ignored.
•
If CONFIG_MOD is not a set value: Data setting warning (A.94)
•
If not in phase 2 or 3: Command warning (A.95)
The following values can be assigned to CONFIG_MOD.
Table 8.6 CONFIG_MOD
CONFIG_MOD Description
0
Write RAM
The setting value is not stored in EEPROM.
1
The setting value is saved in EEPROM.
The maximum number of writes to non-volatile drive memory is 100,000. Do not use the CONFIG command too frequently. If changing
several parameters, carry out the CONFIG command only after all the parameters have been changed.
■
ALM_RD: 05 (Hex.) (Read Alarm and Warning)
Byte Command Response
1 ALM_RD ALM_RD
2
0
ALARM
3, 4 STATUS
5 ALM_RD_MOD ALM_RD_MOD
6 - 15 0 ALM_DATA
16 WDT RWDT
Table 8.7 ALM_RD_MOD
Byte ALM_RD_MOD = 0 ALM_RD_MOD = 1 ALM_RD_MOD = 2
5 00 (Hex.) 01 (Hex.) 02 (Hex.)
6 U2-01 U3-01 Alarm Index
7 U2-02 U3-02 Lower byte of U3-(Alarm Index + 1)
8 - U3-03 Upper byte of U3-(Alarm Index + 1)
9 - U3-04 -
10 - U3-05 -
11 - U3-06 -
12 - U3-07 -
13 - U3-08 -
14 - U3-09 -
15 - U3-10 -
The ALM_RD command is used to read the following information about the status of faults and alarms.
• Present fault and alarm status list
• Fault history (Alarms are not retained in the history.)
• Details of faults
In the following case, a warning is generated and the command is ignored.
•
If ALM_RD_MOD is other than a set value: Data setting warning (A.94)
The fault history is saved in EEPROM and is kept even when the control power is interrupted.
• If ALM_RD_MOD is set to 0: Fault code (1 byte) is entered to byte 6 of ALM_DATA, and byte 7 becomes the
value of the previous fault.