YASKAWA SVC - Page 594

11.3 MECHATROLINK-III I/O Module Settings
11.3.4 I/O Command Details
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11
Appendices
 Confirming Completion of the Command
Use the following information to confirm that the command has been completed.
Write Parameter Command
Changes an I/O Module parameter.
 Command Format
No. Confirmation Method
1 I/O Command Response register = 3 (Read Parameter)
2 Command Status bit 2 (CMDRDY) = 1
3 NO must be the same in the command and response.
4 SIZE must be the same in the command and response.
1. If the command is not completed within 5 seconds after it is executed, bit 0 in the Master Sta-
tus register changes to 1 (TIMEOUT).
2. 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.
Some I/O Module devices do not support the Write Parameter command. Refer to the product
specifications of the I/O Module for details.
Output Registers Input Registers
7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
OW Write Parameter (= 4) IW Write Parameter (= 4)
Not used. Master Status
OW + 1
Command Control
IW + 1
Command Status
OW + 2
NO
IW + 2
NO
OW + 3 SIZE IW + 3 SIZE
Not used. Not used.
OW + 4 PARAMETER Low IW + 4
PARAMETER Low
High
High
OW + 5 IW + 5
OW + 6 IW + 6
OW + 7 IW + 7
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Important
Important