Hold / Servo On/Off Command - YASKAWA DX100 Instructions Manual

DX100

3.3.20 Hold / Servo On/off Command

Command No. 0x83
Instance Specify one out of followings
1: HOLD
2: Servo ON
3: HLOCK
Attribute Fixed to "1".
Service Set_Attribute_Single: 0x10
•
32bit integer Byte 0 Byte 1
1 1:ON
2:OFF

Status Respond by one in the followings
0x00 : respond normally
•
Other than 0x00
•
Added status size 0: no added status
•
1: 1 WORD
•
2: 2 WORD
•
Added status The error code specified by the
added status size
3 Transmission Procedure
3.3 Respective Commands for Robot Control
Request
Sub header part
<Details>
Specify the type of OFF/ON command
1: HOLD
2: Servo ON
3: HLOCK (Refer to "Details of data".)
Specify "1".
Specify the accessing method to the data.
0x10 : Execute the specified request
Data part
(Data exists during the writing operation only)
Byte 2 Byte3 <Details>
Specify ON/OFF
Details of data
HLOCK
This data interlocks the P.P and I/O operation system signals. Only the
following operations are available while the interlock operation is ON.
• Emergency stop for the programming pendant
• Inputting signals excluding I/O mode switching, external start,
external servo ON, cycle switch, inhibit I/O, inhibit PP/PANEL and
master calling up.
HLOCK is invalid while the programming pendant is in edit mode or it is
file accessing using other functions.
Answer
Sub header part
<Details>
: respond abnormally
"1" indicates 1 WORD of added status data, and "2"
indicates 2 WORD of added status data.
The error code of 1 WORD exists if the added status
code is "1" and that of 2 WORD exists if the code is "2".
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