Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 34)

3.2 Commands Details
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3.2 Commands Details
3.2.1 No Operation (NOP: 00H)
After turning on the control and main circuit power supplies, send NOP command to check if initialization of
SERVOPACK has been completed or not.
(1) NOP Command (00H)
The specifications of the NOP command are shown below.
(2) ALARM
The uppermost two digits of the SERVOPACK alarm code are set in the ALARM field of the response.
For example, ALARM = 02 when a parameter checksum error 1 (A.020) occurs.
If no alarm occurs, ALARM = 00.
For details on alarms and alarm codes, refer to the applicable manual for design and maintenance of the SER-
VOPACK.
Byte
NOP
Description
Command Response
1 00H 00H
Phases in
which the
command can
be executed
All phases
Synchronization
classification
Asynchronous
command
2 ALARM
Processing
time
Within commu-
nications cycle
Subcommand Can be used.
3
STATUS
• Returns the ALM, WARNG, and CMDRDY bits in STATUS field.
Other bits will not be specified.
• The response will be NOP from the moment the power is turned on until
the initialization of SERVOPACK is completed. During this time,
CMDRY = 0.
4
5
6
7
8
9
10
11
12
13
14
15
16 WDT RWDT
17
Subcommand
area
Subcommand
area
18
19
20
21
22
23
24
25
26
27
28
29