YASKAWA VS mini V7 User Manual

Also see for VS mini V7: Connection manual

7 MECHATROLINK-II Commands31• MECHATROLINK-I (VER: 10H)Set the factor of the 2 ms transmission cycle to COM_TIM (communications time).The setting range satisfies the following formulas.2 [ms] ≤ COM_TIM ≤ 64 [ms]COM_TIM is multiplied by a factor of 2.In the following cases, a warning is generated and the command is ignored. Commands arealso ignored in phase 2 (with no alarm).• If COM_MOD is set out of range: Data setting alarm (A.94)• If COM_TIM is set out of range: Data setting alarm (A.94)• If SUBCMD is set to 1 in 17-byte mode: Data setting alarm (A.94)• If SUBCMD is set to 1 for Ver. 1.0 (VER: 10H): Data setting alarm (A.94)• If D6, D5, D4, D3, or D0 is set to 1: Data setting alarm (A.94)For details on the transmission cycle, communications time, and communications phases,refer to the High-speed Field Network MECHATROLINK System User’s Manual (SIE-S800-26.1).COM_MODNote: If D6, D5, D4, or D0 is set to 1, a warning will be generated (data set-ting alarm: A.94).SUBCMD0: Sub-command not used.1: Sub-command used.Note: With MECHATROLINK (VER: 10H), SUBCMD is fixed at 0.DTMOD (Data Transfer Mode)00: Single data transfer mode10/11: Data setting alarm (A.94)SYNCMOD (Synchronous/Asynchronous Communications)0: Asynchronous communications. Move to phase 2.1: Synchronous communications. Move to phase 3.D7 D6 D5 D4 D3 D2 D1 D0SUBCMD 0 0 0 DTMOD SYNCMOD 0