Yaskawa MP2200 Machine Controller - Manual (Page 346)

5 Motion Commands
5.3.1 Motion Sub-command Table
5-116
5.3 Motion Subcommands
5.3.1 Motion Sub-command Table
5.3.2 Motion Subcommand Settings
It may not be possible to execute some subcommands, depending on the motion command and
motion subcommand combination being used. Refer to Appendix A.2 SVB-01 Module Motion Sub-
command Execution Table for details on which command combinations are allowed.
In addition, some motion commands can not be executed with the MECHATROLINK-I and
MECHATROLINK-II communication. (See the following table.)
Comman
d Code
Name Function
0 No Command (NOP)
This is a null command.
When a subcommand is not being specified, set this “no command” code.
1
Read SERVOPACK Parameter
(PRM_RD) Reads the specified SERVOPACK parameter and stores it in the monitoring
parameters.
2
Write SERVOPACK Parameter
(PRM_WR)
Changes the specified SERVOPACK parameter's set value.
3 Reserved by system . −
4 Monitor Status (SMON) Stores the servo driver's status in the monitoring parameters.
5 Read Fixed Parameters (FIXPRM_RD)
Reads the specified fixed parameter's current value and stores it in the
monitoring parameters.
Subcommand MECHATROLINK-I
MECHATROLINK-II
(17-byte)
MECHATROLINK-II
(32-byte)
No Command (NOP) Executable Executable Executable
Read SERVOPACK Parameter
(PRM_RD)
Not executable Not executable Executable
Write SERVOPACK Parameter
(PRM_WR)
Not executable Not executable Executable
Monitor Status (SMON) Not executable Not executable Executable
Read Fixed Parameters
(FIXPRM_RD)
Executable Executable Executable