Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands Uživatelský manuál stáhnout pdf (Strana 15)

1.2 MECHATROLINK-II Command List

1-7

MECHATROLINK-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_

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 √√√√√

× ×√

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