YASKAWA
SIEP C730600 86F MECHATROLINK-II Technical Manual
29
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If ALM_RD_MOD is set to 1: Fault code (1 byte) is entered to byte 6 of ALM_DATA, and byte 7 becomes the
value of the previous fault.
•
When ALM_RD_MOD is set to 2: Fault code detected by the value set by the Alarm Index +1 is entered to
bytes 7 and 8.
During normal operation (i.e., when no fault has occurred), the value is 00 (Hex.).
Table 8.8 ALM_DATA
ALM_RD_MOD
ALM_DATA
Max. Processing Time
Parameter No.
0
Present fault (byte 6), past fault (byte 7)
0.1 s
U2-01, U2-02
1
Fault history trace 10 max. (byte 6 to 15)
0.1 s
U3-01 - U3-10
2
Fault history (Alarms are not retained in the history.)
(bytes 7 and 8)
0.1 s
U3-01 - U3-10
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ALM_CLR: 06 (Hex.) (Clear Alarm and Warning)
Byte
Command
Response
1
ALM_CLR
ALM_CLR
2
0
ALARM
3, 4
STATUS
5
ALM_CLR_MOD
ALM_CLR_MOD
6 - 15
0
0
16
WDT
RWDT
The ALM_CLR command clears the alarm or warning state after the cause has been removed.
This command changes the state of a slave station; it does not remove the cause of a fault. After the cause of the
alarm or warning has been removed, this command is then used to clear the status of the alarm or warning.
In the following case, a warning is generated and the command is ignored.
•
If ALM_CLR_MOD is other than a set value: Data setting warning (A.94)
•
If not in phase 2 or 3: Command warning (A.95)
Table 8.9 ALM_CLR_MOD
ALM_CLR_MOD
Description
0
Clears the status of present faults and alarms.
Note:
Drive faults and alarms cannot be reset while the Drive RUN command is ON.
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SYNC_SET: 0DH (Hex.) (Start Synchronous Communications)
Byte
Command
Response
1
SYNC_SET
SYNC_SET
2
0
ALARM
3, 4
STATUS
5 - 15
0
16
WDT
RWDT
The SYNC_SET command is used to request the start of synchronous communications. After this command is
issued, synchronous communications are carried out. If communications become asynchronous due to any fault
such as a communications fault, this command can be used to restore synchronous communications.
Only the ALARM and STATUS fields of the response data can be monitored.
In the following case, a warning is generated and the command is ignored.
•
If not in phase 2 or 3: Command warning (A.95)
