Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 36)

3.2 Commands Details
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(4) Details WDT and RWDT
The watchdog timer data will be set in WDT and RWDT of NOP command and response as shown below.
The watchdog timer is checked after synchronous communications has been established.
The SERVOPACK watchdog timer data will be refreshed whether synchronous communications is established
or not.
D13 N_SOT
0 OT signal is OFF.
1 OT signal is ON.
D14 – – –
D15 – – –
Bit Name Value Description
D7 D4 D3 D0
WDT SN: Copy of RSN in RWDT MN: Incremented by 1 each
communications cycle MN: Master station watchdog timer count
D7 D4 D3 D0
RWDT RSN: Incremented by 1 each
communications cycle
RMN: Copy of MIN in WDT RSN: SERVOPACK’s watchdog timer count