Yaskawa LEGEND-MC User Manual
Page 6
LEGEND-MC User’s Manual
Handling Communication Errors .........................................................................43
Modbus Support .................................................................................................43
Communicating with Multiple Devices ................................................................45
Multicasting .........................................................................................................45
Using Third Party Software .................................................................................45
Command Description .....................................................................................................51
AB (Abort) ........................................................................................................................53
@ABS (Absolute Value) ..................................................................................................54
AC (Acceleration) .............................................................................................................55
@ACOS (Arc Cosine) ......................................................................................................56
AD (After Distance) ..........................................................................................................57
AF (Analog Feedback) .....................................................................................................58
AI (After Input) .................................................................................................................59
AL (Arm Latch) .................................................................................................................60
AM (After Motion) .............................................................................................................61
@AN (Analog Input) .........................................................................................................62
AO (Analog Out) ..............................................................................................................63
AP (After Absolute Position) ............................................................................................64
AR (After Relative) ...........................................................................................................65
AS (At Speed) ..................................................................................................................66
@ASIN (Arc Sine) ............................................................................................................67
AT (After Time) ................................................................................................................68
@ATAN (Arc Tangent) .....................................................................................................69
BG (Begin) .......................................................................................................................70
BL (Backward Limit) .........................................................................................................71
BN (Burn Parameters) .....................................................................................................72
BP (Burn Program) ..........................................................................................................73
BV (Burn Variables) .........................................................................................................74
CB (Clear Bit) ...................................................................................................................75
CD (Contour Data) ...........................................................................................................77
CE (Configure Encoder) ..................................................................................................78
CF (Configure Messages) ................................................................................................79
CH (Connect Handle) ......................................................................................................80
CM (Contour Mode) .........................................................................................................82
CN (Configure Limit Switches) .........................................................................................83
@COM (2’s Complement) ...............................................................................................84
@COS (Cosine) ...............................................................................................................85
CS (Clear Sequence) .......................................................................................................86
CW (Copyright) ................................................................................................................87
DA (De-allocate Variables) ..............................................................................................88
DB (Dynamic Brake) ........................................................................................................89
DC (Deceleration) ............................................................................................................90
DE (Dual (Auxiliary) Encoder) ..........................................................................................91
DL (Download) .................................................................................................................92
DM (Dimension Array) .....................................................................................................93
DP (Define Position) ........................................................................................................94
DT (Delta Time) ...............................................................................................................95
DV (Dual Velocity (Dual Loop)) ........................................................................................96
EA (ECAM Master) ..........................................................................................................97
EB (ECAM Enable) ..........................................................................................................98
EC (ECAM Counter) ........................................................................................................99
ED (Edit Mode) ..............................................................................................................100
EG (ECAM Engage) ......................................................................................................102
ELSE ..............................................................................................................................103
EM (ECAM Cycle) ..........................................................................................................104