YASKAWA SVC - 11.3.4 I;O Command Details

11.3 MECHATROLINK-III I/O Module Settings
11.3.4 I/O Command Details
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11.3.4 I/O Command Details
This section describes how to use the I/O commands.
Data I/O Command
Performs data I/O operations with the I/O Module.
 Command Format
 Execution and Operating Procedure
1. Make sure that the following condition is met.
2. Set the I/O Command register to 0 to execute the Data I/O command.
 Confirming Completion of the Command
Use the following information to confirm that the command has been completed.
Output Registers Input Registers
7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
OW Data I/O (= 0) IW Data I/O (= 0)
Not used. Master Status
OW + 1
Command Control
IW + 1
Command Status
OW + 2 Output Data 1 Low IW + 2 Input Data 1 Low
High High
OW + 3 Output Data 2 Low IW + 3 Input Data 2 Low
High High
OW + 4 Output Data 3 Low IW + 4 Input Data 3 Low
High High
OW + 5 Output Data 4 Low IW + 5 Input Data 4 Low
High High
OW + 6 Output Data 5 Low IW + 6 Input Data 5 Low
High High
OW + 7 Output Data 6 Low IW + 7 Input Data 6 Low
High High
••
••
••
No. Execution Condition Confirmation Method
1
I/O command execution must be com-
pleted.
Command Status bit 2 (CMDRDY) = 1
No. Confirmation Method
1 I/O Command Response register = 0 (Data I/O)
2 Command Status bit 2 (CMDRDY) = 1
• If the command is not completed within 5 seconds after it is executed, bit 0 in the Master
Status register changes to 1 (TIMEOUT).
• When bit 0 (D_ALM) or bit 1 (D_WAR) in the Command Status register is 1, check the error
details with the application and perform the stop processing. The system will not perform
stop processing.
Information