YASKAWA MECHATROLINK-II SI-T3 Technical Manual

Also see for SI-T3 MECHATROLINK-II A1000 Series: Installation manual Technical manual Installation manual Installation manual

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7 Transmission InterfaceYASKAWA ELECTRIC SIEP C730600 50A YASKAWA AC Drive-Option Card MECHATROLINK-II Technical Manual 17 Phase 3: Synchronous communicationsWatchdog timer faults in the communications frame are detected. If the DISCONNECT command is received, the phasemoves to phase 1. If a reception fault or a watchdog timer fault is detected, the phase moves to phase 2. Application Layer SpecificationsThe data format for the application layer conforms to the MECHATROLINK-II link command specifications.SI-T3 has the following main commands and sub-commands.Table 5 Main CommandsTable 6 Sub-commandsThe main commands are used in both the 17-byte and 32-byte data transmissions for MECHATROLINK-II and withMECHATROLINK-I. The sub-commands can be used only when the 32-byte data transmission (F6-21 = 0) has beenselected. If a conflict occurs between a request for a main command and a request for a sub-command, the request for themain command is processed. If either a main command or a sub-command is already being processed, the commandbeing processed is given priority. If an INV_CTL main command and an INV_I/O sub-command conflict, the sub-command is given priority.For details on command formats, refer to MECHATROLINK-II Commands on page 18.The following table shows the combination of Main Commands and Sub-commands.Table 7 Main Command and Sub-commandNote: Command warning (A.95) will result if a main command and sub-command conflict with one another. For details on the alarm,refer to Other Faults on page 31.Code Name Function00H NOP No Operation01H PRM_RD Read Parameter02H PRM_WR Write Parameter03H ID_RD Read ID Number04H CONFIG RAM Write and EEPROM Write05H ALM_RD Read Alarm and Warning06H ALM_CLR Clear Alarm and Warning0DH SYNC_SET Start Synchronous Communications0EH CONNECT Connect0FH DISCONNECT Disconnect40H INV_CTL Drive Operation ControlCode Name Function00H NOP No Operation01H PRM_RD Read Parameter02H PRM_WR Write Parameter05H ALM_RD Read Alarm and Warning41H INV_I/O Drive I/O ControlCode Main Command Sub-commandNOP (00H) PRM_RD (01H) PRM_WR (02H) ALM_RD (05H) INV_I/O (41H)00H NOP OK OK OK OK OK01H PRM_RD OK NG (A.95) NG (A.95) OK OK02H PRM_WR OK NG (A.95) NG (A.95) OK OK03H ID_RD OK OK OK OK OK04H CONFIG OK NG (A.95) NG (A.95) NG (A.95) NG (A.95)05H ALM_RD OK NG (A.95) NG (A.95) NG (A.95) NG (A.95)06H ALM_CLR OK NG (A.95) NG (A.95) NG (A.95) NG (A.95)0DH SYNC_SET OK OK OK OK OK0EH CONNECT OK NG (A.95) NG (A.95) NG (A.95) NG (A.95)0FH DISCONNECT OK NG (A.95) NG (A.95) NG (A.95) NG (A.95)40H INV_CTL OK OK OK OK OK