A-49
A-5MECHATROLINK-II Communication Commands
APPENDIX
- SV Series User’s Manual -
ALM_RD_MOD
(alarm read method)
1-byte
*1
Captured alarm index (occurring
sequence: 0 is the latest ) are stored
with 6 bytes (20 bytes for
subcommand).
COM_MODE
(communication
mode)
1-byte -
COM_TIME
(Communication
period)
1-byte
0.25(ms)<=
MECHATROLINK-II transmission
period (ms)
×COM_TIME<=32(ms)
DEVICE_CODE
(Read equipment ID)
1-byte -
HOLD_MOD
(Stop method)
1-byte -
ID
(Equipment ID)
8-byte
LT_MOD
(Latch mode)
1-byte -
LT_SGNL
(Latch signal)
1-byte -
Data field
Data
length
Data Memo
7
00
0
0000
ALM_RD_MOD
0H : Occurring alarm/warning
1H : Alarm log (up to 10 items)
2H : Occurring alarm/warning (respectively)
*1
3H : Alarm log (respectively)
*1
7
0
000
DTMOD (Data transfer mode)
0H : Single-send
1H : Continuous-send
3H : Single phase
0
SUBCMD
(Sub command)
0 : Not used
1 : Used
SYNCMOD
(Sync mode)
0 : Non-sync communication
1 : Sync communication
7 0
00
COM_TIME
1H to 32H
7
00
0
0000
DEVICE_CODE
0H : Product model
1H : Manufacturer
2H : Version Info
7
00
0
0000
HOLD_MOD
0H : Stop according to 1st (2nd) deceleration
1H : Emergency stop (Command output stop)
2H : Stop according to deceleration for stop
0
7
0-word 1-word 7-word
DEVICECODE
DatastoredinID
00H To store model of servo amplifier.
01H To store version of servo amplifier software.
12H To store version of encoder software.
20H To store model of servo motor.
7
00
0
0000
LT_MOD
0H : Normal latch mode (LT_SGNL selection)
1H : Continuous latch mode (set up via parameter)
0
7
00
0
0000
LT_SGNL
0H : Z-phase (Origin signal for encoder)
1H : EXT1 (External input signal 1)
1H : EXT2 (External input signal 2)
1H : EXT3 (External input signal 3)
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