YASKAWA MECHATROLINK Sigma 2 Series - Page 209

A.2 MECHATROLINK-II Command Format List
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A.2 MECHATROLINK-II Command Format List
The command formats for MECHATROLINK-II commands are shown in the following table.
Table A.3 Common Command Format
Byte NOP PRM_RD PRM_WR ID_RD CONFIG ALM_RD
Command Response Command Response Command Response Command Response Command Response Command Response
1 00H 00H 01H 01H 02H 02H 03H 03H 04H 04H 05H 05H
2 ALARM ALARM ALARM ALARM ALARM ALARM
3 STATUS STATUS STATUS STATUS STATUS STATUS
4
5 NO NO NO NO DEVICE_
COD
DEVICE_
COD
ALM_RD_
MOD
ALM_RD_
MOD
6 OFFSET OFFSET ALM_
DATA
7 SIZE SIZE SIZE SIZE SIZE SIZE
8 PARAMETER PARAMETER PARAMETER ID
9
10
11
12
13
14
15
16 WDT RWDT WDT RWDT WDT RWDT WDT RWDT WDT RWDT WDT RWDT
17
18
19
20
21
22
23
24
25
26
27
28
29