Yaskawa SGDS Sigma III Servo Amplifier - Manual (Page 137)

6 MECHATROLINK II Communications
6.3.1 No Operation (NOP: 00H)
6-6
6.3 Main Commands
The following sections describe main command specific items that are unique to the SGDS- 12A.
The MECHATROLINK II main commands are upwardly compatible with the MECHATROLINK commands.
They use the first to the twenty nineteenth bytes of the command and response data. 03H is set in command byte
0, and 01H is returned to response byte 0.
6.3.1 No Operation (NOP: 00H)
Byte
NOP
Description
Command Response
1 00H 00H Processing
classifications Network com-
mand group Synchronization
classifications Asynchronous
2 ALARM Processing time Within transmis-
sion cycle Subcommand Can be used.
3 STATUS • Returns the status of the ALM, WARNG, and CMDRDY in STATUS bytes
only. All other bits are not used. The response will be NOP when the power is
turned ON until initialization has been completed, and during this time, the
following status will be returned: CMDRDY: 0.
• Can be used during any phase.
4
5
6
7
8
9
10
11
12
13
14
15
16
WDT RWDT
17 For
subcommands.
Refer to 6.4
Subcommands. For
subcommands.
Refer to 6.4
Subcommands.
18
19
20
21
22
23
24
25
26
27
28
29