Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 58)

3.2 Commands Details
3-27
3
Commands for Preparation Process
3.2.15 Read Alarm or Warning (ALM_RD: 05H)
Send an ALM_RD command to read out the current alarm/warning and the alarm history.
(1) ALM_RD Command (05H)
The specifications of the ALM_RD command are described below.
∗ Alarm history is saved in the non-volatile memory, and will not be lost if the control power goes OFF.
Byte
ALM_RD
Description
Command Response
1 05H 05H
Phases in
which the
command can
be executed
Phase 2 and 3
Synchronization
classification
Asynchronous
command
2 ALARM
Processing
time
See
ALM_RD_MOD
Specifications on
the next page.
Subcommand Cannot be used
3
STATUS
• Reads the following alarm and warning status.
- Current alarm/warning status
- Alarm history* (Warnings and communications alarms A.E50 and
A.E60 will not be read out since they are not preserved in the history.)
• See (2) ALM_RD_MOD Specifications for details on ALM_RD_MOD.
• Alarm and warning codes are set in ALM_DATA from byte 6 in order
from the most recent, and 0 is set in the bytes that are blank. Accordingly,
the data in byte 6 is the latest alarm or warning code.
• A warning will occur and the command will be ignored in the following
cases.
-If ALM_RD_MOD is out of the range: Data setting warning 2 (A.94B)
4
5
ALM_RD_
MOD
ALM_RD_
MOD
6
ALM_DATA
7
8
9
10
11
12
13
14
15
16 WDT RWDT