Yaskawa SGDS Sigma III Servo Amplifier User Manual

Page 143

6 MECHATROLINK II Communications

6.3.6 Read Alarm or Warning (ALM_RD: 05H)

6-12

Εach alarm code of the Σ III SERVOPACK is 2-byte long, which includes detailed information such as

causes of occurrence in addition to the alarm code of

Σ II series SERVOPACK. The data format of alarm

code is as follows.

Note: 1. When ALM_RD_MOD = 0 or 1, the alarm code (1-byte long) of the

Σ II SERVOPACK

is returned.

2. When ALM_RD_MOD = 2 or 3, the alarm code (2-byte long) of the

Σ III SERVOPACK

is returned so that the detailed information is included. The detection order is specified
in the alarm index to be read out one by one.

D15-D12

D11-D4

D3-D0

Alarm group (0)

Σ II series SERVOPACK

alarm code

Detailed information