Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 59)

3 Commands for Preparation Process
3.2.15 Read Alarm or Warning (ALM_RD: 05H)
3-28
(2) ALM_RD_MOD Specifications
1. When ALM_RD_MOD=0 or 1
An alarm code of 1-byte length is returned.
Example) The warning A.960 occurred and then, the communications error alarm A.E61 occurred.
Note 1. The current warning or alarm status can be cleared by executing the ALM_CLR (ALM_CLR_MOD = 0) com-
mand.
2. The alarm history will not be cleared until the ALM_CLR(ALM_CLR_MOD = 1) command is executed.
2. When ALM_RD_MOD = 2 or 3
An alarm code of 2-byte length is returned.
If ALM_RD_MOD is set to 2 in the above example, the following alarm codes will be read out.
0xE61 for alarm index 0, and
0x960 for alarm index 1
ALM_RD_MOD Description
Processing
Time
0
Read current alarm/warning status
10 items max. (sixth to fifteenth byte)
Within com-
munications
cycle
1
Read alarm history (warnings and communications alarms A.E50 and A.E60 are
not preserved in the history.)
10 records max. (sixth to fifteenth byte)
Within 60 ms
2
Gets the detailed information of current alarm or warning one by one.
Set the occurrence order from 0 (the latest) to 9 for the alarm index.
Within 12 m
3
Gets the detailed information of alarm history one by one.
Set the occurrence order from 0 (the latest) to 9 for the alarm index.
Byte Command Response
6 Alarm index Alarm index
7 0
Alarm code
8 0
Byte Command Response
6 Alarm index Alarm index
7 0
Alarm code
8 0
ALM_DATA
6
7
8
15
E6H E6H
96H
0
ALM_DATA
6
n-1
n
15
Byte Byte
Earilier alarms
Latest alarm
1) Current warning/alarm (ALM_RD_MOD = 0)
Index 0
Index 1
Warnings will
not be shown.
Index 9
Index 0
Index n
Index 9
2) Alarm history (ALM_RD_MOD = 1)
n+1