Yaskawa 1000 Series Drive Option - MECHATROLINK-II Technical Manual - Manual (Page 41)

資料番号：EZZ020938
Errata
Listed below are corrections for the MECHATROLINK-II (SI-T3) Technical Manual (SIEP C730600 50A).
Please correct your manual accordingly.
(1) MECHATROLINK
-II Commands CONNECT：0EH(Connect) MECHATROLINK- II (VER=21H) (p.23)
(ERROR)
When the transmission cycle is equal to the communications time (COM_TIM = 1):
• 32-byte data transmission
1 [ms] ≤ transmission cycle [ms] ≤ 8 [ms]
If the transmission cycle is set to a fractional value, a warning (Data setting warning: A.94) is generated.
• 17-byte data transmission
0.5 [ms] ≤ transmission cycle [ms] ≤ 8 [ms]
If the transmission cycle is not set to a multiple of 0.5 ms, such as 0.75, a warning (Data setting warning:
A.94) is generated.
When the transmission cycle is not equal to the communications time (1<COM_TIM ≤ 32):
2 [ms] ≤ transmission cycle [ms] × COM_TIM ≤ 100 [ms]
If the transmission cycle is less than 2 ms and is set to a fractional value, a warning (Data setting warning:
A.94) is generated. If the communications cycle is set to a fractional value, a warning (Data setting warning:
A.94) is generated.
(CORRECTION)
When the transmission cycle is equal to the communications time (COM_TIM = 1):
• 32-byte data transmission
1 [ms] ≤ transmission cycle [ms] ≤ 8 [ms]
If the transmission cycle is set to a fractional value, a warning (Data setting warning: A.94) is generated.
• 17-byte data transmission
0.5 [ms] ≤ transmission cycle [ms] ≤ 8 [ms]
If the transmission cycle is not set to a multiple of 0.5 ms, such as 0.75, a warning (Data setting warning:
A.94) is generated.
When the transmission cycle is not equal to the communications time (COM_TIM ≠ 1):
A warning (Data setting warning: A.94) is generated.
(2) MECHATROLINK -II Commands CONNECT：0EH(Connect) MECHATROLINK- I (VER=10H) (p.24)
(ERROR)
COM_TIM
In MECHATROLINK-I, COM_TIM was set in multiples of two because the units for COM_TIM were 1 = 1 ms
and transmission cycles were fixed at 2 ms.
2 [ms] ≤ COM_TIM ≤ 64[ms]
When transferring data in 2 ms cycles, set COM_TIM = 2. To use 4 ms cycles, set COM_TIM = 4.
In the following cases, a warning is generated and the command is ignored. Commands are also ignored in
phase 2 (with no alarm).
• If COM_TIM is set out of range: Data setting warning (A.94)
(CORRECTION)
COM_TIM
In MECHATROLINK-I, COM_TIM = 2 the units for COM_TIM were 1 = 1 ms and transmission cycles were fixed
at 2 ms.
If COM_TIM ≠ 2: Data setting warning (A.94)