Yaskawa SGDS Sigma III Servo Amplifier - Manual (Page 185)

6 MECHATROLINK II Communications
6.5.6 Substatus Field Specifications: SUBSTATUS
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6.5.6 Substatus Field Specifications: SUBSTATUS
The substatus field is used to monitor the subcommand status with the eighteenth byte reserved area of the
subcommands.
• Substatus Field
D8 EXT3 Third external latch signal input 0 OFF
1 ON
D9 BRK Brake output 0 Released
1 Locked
D10 Reserved 0
D11 Reserved 0
D12 IO12 CN1 input signal selected in Pn81E.0 0 OFF
1 ON
D13 IO13 CN1 input signal selected in Pn81E.1 0 OFF
1 ON
D14 IO14 CN1 input signal selected in Pn81E.2 0 OFF
1 ON
D15 IO15 CN1 input signal selected in Pn81E.3 0 OFF
1 ON
Bit Name Description Set
Value
Settings
D7 D6 D5 D4 D3 D2 D1 D0
− − − − − SBCMDRDY SBWARNG SBALM
Bit Name Description Set
Value
Details
D0 SBALM Subcommand alarm occurrence 0 None
1 Alarm occurs.
D1 SBWARNG Subcommand warning occurrence 0 None
1 Warning occurs.
D2 SBCMDRDY Subcommand ready
(Subcommand reception enabled)
0 Subcommands cannot be
received.
(busy)
1 Subcommand can be
received.
(ready)