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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8 MECHATROLINK-II Commands24 YASKAWA ELECTRIC SIEP C730600 50A YASKAWA AC Drive-Option Card MECHATROLINK-II Technical ManualCOM_TIMIn MECHATROLINK-I, COM_TIM was set in multiples of two because the units for COM_TIM were 1 = 1 ms andtransmission cycles were fixed at 2 ms.2 [ms] ≤ COM_TIM ≤ 64[ms]When transferring data in 2 ms cycles, set COM_TIM = 2. To use 4 ms cycles, set COM_TIM = 4.In the following cases, a warning is generated and the command is ignored. Commands are also ignored in phase 2 (withno alarm).• If COM_TIM is set out of range: Data setting warning (A.94) DISCONNECT: 0FH (Disconnect)The DISCONNECT command is used to close the connection and move to phase 1.After moving to phase 1, no check for transmission faults is executed. This command can be used in phases 2 and 3.If this command is received while in phase 2 or 3, the data for the control command to the Drive is cleared to 0, and afault reset command is carried out for the Drive. INV_CTL: 40H (Drive Operation Control)The INV_CTL command is used to set the drive operation signals, speed references, and so on.These bytes do not need to be set every scan. The settings are saved in the drive until the next data is received or until thepower is turned OFF. For details on operation signals, refer to Table 16.The speed reference and the output frequency units can be selected with o1-03.Byte Command Response1 DISCONNECT DISCONNECT20ALARM3, 4 STATUS5 to 1516 WDT RWDTByte Command Response1 INV_CTL INV_CTL2 0 ALARM3, 4 Operation signals STATUS5, 6 Speed reference Output frequency7, 8 Torque reference Output current9 SEL REF1/2 SEL REF1/210 SEL MON1/2 SEL MON1/211, 12 Reference selected by SEL REF1 Monitor selected by SEL MON113, 14 Reference selected by SEL REF2 Monitor selected by SEL MON215 0 016 WDT RWDT