Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 13)

1.2 MECHATROLINK-II Command List
1-5
1
MECHA
TROLINK-
II
Commands
1.2 MECHATROLINK-II Command List
1.2.1 Main Commands (In command code order)
The MECHATROLINK-II main commands used for Σ-V series servo drives are listed below.
Command
Code
Command Function Reference
00H NOP Nothing is performed. 3.2.1
01H PRM_RD Reads the specified parameter. 3.2.13
02H PRM_WR Saves the specified parameter. 3.2.6
03H ID_RD Reads the device ID. 3.2.5
04H CONFIG Enables the current parameter settings. 3.2.8
05H ALM_RD Reads the current alarm or warning status, and the alarm history. 3.2.15
06H ALM_CLR Clears the current alarm or warning status, and the alarm history. 3.2.16
0DH SYNC_SET Starts synchronous communications. 3.2.4
0EH CONNECT Requests to establish a MECHATROLINK connection. 3.2.3
0FH DISCONNECT Requests to releases connection. 3.2.2
1CH PPRM_WR Saves the parameters in non-volatile memory. 3.2.7
20H POS_SET Sets the coordinates. 3.2.17
21H BRK_ON Turns the brake signal off and applies the holding brake. Appendix A
22H BRK_OFF Turns the brake signal on and release the holding brake. Appendix A
23H SENS_ON Turns the encoder power supply on, and gets the position data. 3.2.9
24H SENS_OFF Turns the encoder power supply off. 3.2.11
25H HOLD
From current motion status, performs a deceleration stop and positioning
according to the deceleration value set in the parameter.
4.2.1
28H LTMOD_ON Enables the position data latch by the external signal input. 4.2.2
29H LTMOD_OFF Disables the position data latch by the external signal input. 4.2.3
30H SMON Monitors the SERVOPACK status. 3.2.14
31H SV_ON Turns the servo of the motor on. 3.2.10
32H SV_OFF Turns the servo of the motor off. 3.2.12
34H INTERPOLATE Starts interpolation feeding. 4.2.4
35H POSING
Starts positioning to the target position (TPOS) at the target speed
(TSPD).
4.2.5
36H FEED Starts constant speed feeding at the target speed (TSPD) 4.2.6
38H LATCH
Performs interpolation feeding and latches the position using the specified
latch signal.
4.2.7
39H EX_POSING
Moves toward the target position (TPOS) at the target speed (TSPD).
When a latch signal is input midway, positioning is performed according
to the final travel distance for external position specified in the parameter
from the latch signal input position.
4.2.8
3AH ZRET Performs a homing. 4.2.9
3CH VELCTRL Controls speed. 4.2.10
3DH TRQCTRL Controls torque (force). 4.2.11
3EH ADJ Used to monitor and adjust data for maintenance. 3.2.18
3FH SVCTRL
Performs general-purpose servo control. This command is compatible
with MECHATROLINK version 1.0 and earlier.
Appendix B