Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 15)

1.2 MECHATROLINK-II Command List
1-7
1
MECHA
TROLINK-
II
Commands
1.2.3 Combination of MECHATROLINK-II Main Commands and Subcommands
Subcommands can be used by combining as listed below.
Note: √: Can be combined, ×: Cannot be combined
CODE Main Command
Subcommand
NOP PRM_RD PRM_WR ALM_RD
PPRM_
WR
LTMOD_
ON
LTMOD_
OFF
SMON
00 NOP √ √ √ √ √ √ √ √
01 PRM_RD √ × × × × × × √
02 PRM_WR √ × × × × × × √
03 ID_RD √ √ √ √ √ √ √ √
04 CONFIG √ × × × × × × √
05 ALM_RD √ × × × × × × √
06 ALM_CLR √ × × × × × × √
0D SYNC_SET √ × × × × × × √
0E CONNECT √ × × × × × × ×
0F DISCONNECT √ × × × × × × ×
1C PPRM_WR √ × × × × × × √
20 POS_SET √ × × × × × × √
21 BRK_ON √ × × × × × × √
22 BRK_OFF √ × × × × × × √
23 SENS_ON √ × × × × × × √
24 SENS_OFF √ × × × × × × √
25 HOLD √ √ √ √ √ √ √ √
28 LTMOD_ON √ × × × × × × √
29 LTMOD_OFF √ × × × × × × √
30 SMON √ √ √ √ √ √ √ √
31 SV_ON √ √ √ √ √ √ √ √
32 SV_OFF √ √ √ √ √ √ √ √
34 INTERPOLATE √ √ √ √ √ √ √ √
35 POSING √ √ √ √ √ √ √ √
36 FEED √ √ √ √ √ √ √ √
38 LATCH √ √ √ √ √ × × √
39 EX_POSING √ √ √ √ √ × × √
3A ZRET √ √ √ √ √ × × √
3C VELCTRL √ √ √ √ √ √ √ √
3D TRQCTRL √ √ √ √ √ √ √ √
3E ADJ √ × × × × × × √
3F SVCTRL √ √ √ √ √ × × √