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Yaskawa 1000 Series Drive Option - MECHATROLINK-II Technical Manual User Manual

Page 23

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8 MECHATROLINK-II Commands

YASKAWA ELECTRIC

SIEP C730600 50A YASKAWA AC Drive-Option Card MECHATROLINK-II Technical Manual

23

MECHATROLINK-II (VER: 21H)
COM_MOD

Note: If Bit6, Bit5, Bit4, or Bit0 is set to 1, a warning will be generated (Data setting warning: A.94).

COM_TIM

Set the factor of the transmission cycle to COM_TIM (communications time) so that the setting range satisfies the
following formulas.

When the transmission cycle is equal to the communications time (COM_TIM = 1):

• 32-byte data transmission

1 [ms]

≤ transmission cycle [ms] ≤ 8 [ms]

If the transmission cycle is set to a fractional value, a warning (Data setting warning: A.94) is generated.

• 17-byte data transmission

0.5 [ms]

≤ transmission cycle [ms] ≤ 8 [ms]

If the transmission cycle is not set to a multiple of 0.5 ms, such as 0.75, a warning (Data setting warning: A.94) is
generated.

When the transmission cycle is not equal to the communications time (1

32):

2 [ms]

≤ transmission cycle [ms] × COM_TIM ≤ 100 [ms]

If the transmission cycle is less than 2 ms and is set to a fractional value, a warning (Data setting warning: A.94) is

generated. If the communications cycle is set to a fractional value, a warning (Data setting warning: A.94) is

generated.

MECHATROLINK-I (VER: 10H)
COM_MOD

In the following cases, a warning is generated and the command is ignored. Commands are also ignored in phase 2 (with
no alarm).

• If COM_MOD is set out of range: Data setting warning (A.94)
• If SUBCMD is set to 1 in 17-byte data transmission: Data setting warning (A.94)
• If SUBCMD is set to 1 for Ver. 1.0 (VER: 10H): Data setting warning (A.94)
• If Bit6, Bit5, Bit4, Bit3, or Bit0 is set to 1: Data setting warning (A.94)

Bit7

Bit6

Bit5

Bit4

Bit3

Bit2

Bit1

Bit0

SUBCMD

0

0

0

DTMOD

SYNCMOD

0

SUBCMD

Sub-command

setting

0

Sub-command not used

1

Sub-command used

DTMOD

Communication

Mode

00

Single data transfer mode

SYNCMOD

Transmission

Synchronization

0

Move to phase 2

1

Move to phase 3

Bit7

Bit6

Bit5

Bit4

Bit3

Bit2

Bit1

Bit0

0

0

0

0

DTMOD

SYNCMOD

EXMOD

DTMOD

Communication

Mode

00

Single data transfer mode

SYNCMOD

Transmission

Synchronization

0

Move to phase 2 (Asynchronous communications status)

1

Move to phase 3 (Synchronous communications status)

EXMOD

Request to

establish expanded/

standard

connection

0

Standard connection

1

Expanded connection
Even if SYNCMOD = 1 (synchronous comm.), SYNCMOD will be set to 0 for asynchronous
data transmission.