YASKAWA SGDV-OCA05A

13.5 Reading and Changing Attributes
13.5.2 Reading and Changing Attributes
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13.5.2 Reading and Changing Attributes
You can use messages with explicit messages communications to read or change attributes.
 Basic Format
The following table shows the basic format for explicit messages.
• Commands (Master Device to SERVOPACK)
• Responses (SERVOPACK to Master Device)
 Example of Reading the Acceleration Attribute
The following table shows an example using master device MAC ID of 0 and reading the accel-
eration (class ID 0x25, instance ID 1, and attribute ID 8) with the Get_Attribute_Single service
(service code: 0x0E).
• Commands (Master Device to SERVOPACK)
• Responses (SERVOPACK to Master Device)
Refer to user documentation for the master device for details on explicit messages.
7 6 5 4 3 2 1 0
00/1 MAC ID
0 Service Code
Class ID
Instance ID
Attribute ID
Service Data
7 6 5 4 3 2 1 0
00/1 MAC ID
1 Service Code
Response Service Data
7 6 5 4 3 2 1 0
00 0
00x0E
0x25
0x01
0x08
7 6 5 4 3 2 1 0
00 0
10x0E
0x34 (lowermost byte)
0x12
0x00
0x00 (uppermost byte)