Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 129)

7 Data Field
7.2.1 Substatus Field Specification
7-10
7.2 Substatus Data Field
7.2.1 Substatus Field Specification
The substatus field is used to monitor status of subcommands.
• Substatus Field
7.2.2 Extension Status Field Specifications
This field is used to monitor extension status.
The SMON, LTMOD_ON, and LTMOD_OFF subcommands can be used to enable monitoring.
• L_CMP_CNT (D0-D7)
This counter indicates how many times the latch sequence has been completed during continuous latch oper-
ation. It remains 0 during a normal latch operation.
• L_SEQ_NO (D8-D11)
This number indicates the number of latch sequence being completed during a continuous latch operation. It
remains 0 during a normal latch operation.
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
Byte
28
D7 D6 D5 D4 D3 D2 D1 D0
L_CMP_CNT
Byte
29
D15 D14 D13 D12 D11 D10 D9 D8
− − − − L_SEQ_NO