6 MECHATROLINK II Communications
6.3.6 Read Alarm or Warning (ALM_RD: 05H)
6-12
Εach alarm code of the Σ III SERVOPACK is 2-byte long, which includes detailed information such as
causes of occurrence in addition to the alarm code of Σ II series SERVOPACK. The data format of alarm
code is as follows.
Note: 1. When ALM_RD_MOD = 0 or 1, the alarm code (1-byte long) of the Σ II SERVOPACK
is returned.
2. When ALM_RD_MOD = 2 or 3, the alarm code (2-byte long) of the Σ III SERVOPACK
is returned so that the detailed information is included. The detection order is specified
in the alarm index to be read out one by one.
D15-D12 D11-D4 D3-D0
Alarm group (0) Σ II series SERVOPACK
alarm code
Detailed information
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