Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 115)

6 MECHATROLINK-II Subcommands
6.2.1 No Operation (NOP: 00H)
6-2
6.1 MECHATROLINK-II Subcommands List
The MECHATROLINK-II subcommands can be used by specifying them with the CONNECT command
when MECHATROLINK-II communications starts.
The specifications of each MECHATROLINK-II subcommand are described below.
Refer to 1.2.3 Combination of MECHATROLINK-II Main Commands and Subcommands for information on
applicable combinations with main commands.
6.2 MECHATROLINK-II Subcommands Details
6.2.1 No Operation (NOP: 00H)
(1) Substatus Field Specification
This substatus field is used to monitor status of subcommands.
• Substatus Field
Byte
NOP
Description
Command Response
17 00H 00H • Not operation command
18 SUBSTATUS
19
20
21
22
23
24
25
26
27
28
29
Byte
18
D7 D6 D5 D4 D3 D2 D1 D0
Reserved Reserved Reserved Reserved Reserved
SBCM-
DRDY
SBWARNG SBALM
Bit Name Description Value Status
D0 SBALM Subcommand alarm occurs.
0 No alarm
1 Alarm occurs
D1 SBWARNG Subcommand warning occurs.
0 No warning
1 Warning
D2 SBCMDRDY
Subcommand Ready
(Subcommand can be received)
0 Busy
1 Ready