Yaskawa FSP Amplifier FlexWorks - Manual (Page 215)

Serial Interface Protocol
215
Response message format in case of no fault:
N A M I D 1 I D 2 F1 F2 SW1 SW2 SW3 SW4
N 0 0 0 0 0 0 0 4 3 7
→
S1 S2 CR
→
C 5 CR
GET_VAR command
Example of response message to GET_VAR command to variable
Position_Actual_value (0x09) to axis 0 in Immediate mode with
message identification of 0x7F.
Master Message Format:
N A M I D 1 I D 2 C1 C2 V1 V2 P1 P2 S1 S2 CR
N 0 A 6 5 4 8 0 0 0 9 4 0 CR
Response Message Format in cases of no fault:
N
A M
I
D
1 I
D
2 C1 C2 I
NX
_1 I
NX
_2
N 0 2 6 5 4 8 0 9
→
V1 V2 V3 V4 V5 V6 V7 V8 S1 S2 CR
→
F F F F F 0 6 0 F A CR
Where:
A = 0 Axis number 0
m = 2 Response type is Answer for data request
command.
ID1 = 6; Id2 = 5 Message identification contains the same
value as master message identification.
C1 = 4; C2 = 8 Response message Operational Code.
Inx_1=0;
Inx_2=9 Variable Position_Actual_value ID.
V1 - V8 =
FFFFF060 Variable value. Since Position_Actual_value
is signed and the leftmost bit is 1, the
number is negative and equals (–4000)
decimal.
S1 = 3; S2 = D 0x100–(0x02+0x65+0x48+0x09+0xFF+
0xFF+0xF0+0x60)= 0xFA.