Yaskawa 1000 Series Drive Option - MECHATROLINK-II Technical Manual - Manual (Page 24)

8 MECHATROLINK-II Commands
24 YASKAWA ELECTRIC SIEP C730600 50A YASKAWA AC Drive-Option Card MECHATROLINK-II Technical Manual
COM_TIM
In MECHATROLINK-I, COM_TIM was set in multiples of two because the units for COM_TIM were 1 = 1 ms and
transmission cycles were fixed at 2 ms.
2 [ms] ≤ COM_TIM ≤ 64[ms]
When transferring data in 2 ms cycles, set COM_TIM = 2. To use 4 ms cycles, set COM_TIM = 4.
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_TIM is set out of range: Data setting warning (A.94)
„ DISCONNECT: 0FH (Disconnect)
The DISCONNECT command is used to close the connection and move to phase 1.
After moving to phase 1, no check for transmission faults is executed. This command can be used in phases 2 and 3.
If this command is received while in phase 2 or 3, the data for the control command to the Drive is cleared to 0, and a
fault reset command is carried out for the Drive.
„ INV_CTL: 40H (Drive Operation Control)
The INV_CTL command is used to set the drive operation signals, speed references, and so on.
These bytes do not need to be set every scan. The settings are saved in the drive until the next data is received or until the
power is turned OFF. For details on operation signals, refer to
Table 16 .
The speed reference and the output frequency units can be selected with o1-03.
Byte Command Response
1 DISCONNECT DISCONNECT
2
0
ALARM
3, 4
STATUS
5 to 15
16 WDT RWDT
Byte Command Response
1 INV_CTL INV_CTL
2 0 ALARM
3, 4 Operation signals STATUS
5, 6 Speed reference Output frequency
7, 8 Torque reference Output current
9 SEL REF1/2 SEL REF1/2
10 SEL MON1/2 SEL MON1/2
11, 12 Reference selected by SEL REF1 Monitor selected by SEL MON1
13, 14 Reference selected by SEL REF2 Monitor selected by SEL MON2
15 0 0
16 WDT RWDT