Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 117)

6 MECHATROLINK-II Subcommands
6.2.4 Read Alarm or Warning (ALM_RD: 05H)
6-4
6.2.4 Read Alarm or Warning (ALM_RD: 05H)
6.2.5 Write Non-volatile Parameter (PPRM_WR: 1CH)
Byte
ALM_RD
Description
Command Response
17 05H 05H • Reads the alarm or warning.
This command has the same function as the main command
ALM_RD.
• When ALM_RD_MOD is set to 2 or 3, an alarm index will be
assigned to byte 20 in the command and the response. An alarm code
is assigned to both byte 21 and byte 22 in the response.
18 SUBSTATUS
19 ALM_RD_MOD ALM_RD_MOD
20
ALM_DATA
21
22
23
24
25
26
27
28
29
Byte
PPRM_WR
Description
Command Response
17 1CH 1CH • Writes the parameters.
This command has the same function as the main command
PPRM_WR.
18 SUBSTATUS
19
NO NO
20
21 SIZE SIZE
22
PARAMETER PARAMETER
23
24
25
26
27
28
29