YASKAWA S-7 Series Command Manual page 35

1.5 List of Commands
1.5.2 Main Commands
Com-
Category mand
Code
20h
21h
22h
23h
24h
30h
31h
32h
34h
35h
Servo
36h
Com-
mands
37h
39h
3Ah
3Ch
3Dh
40h
41h
1-8
Command Command Name
Set coordinates com-
POS_SET
mand
Request for applying
BRK_ON
brake command
Release brake com-
BRK_OFF
mand
Request for turning
SENS_ON
sensor ON command
Request for turning
SENS_OFF
sensor OFF command
Monitor servo status
SMON
command
SV_ON Servo ON command
SV_OFF Servo OFF command
INTERPO-
Interpolation command Starts interpolation feeding.
LATE
POSING Positioning command
Constant speed feed
FEED
command
Positioning at con-
EX_FEED stant speed by external
input command
Positioning by external
EX_POSING
input command
Zero point return
ZRET
command
Velocity control com-
VELCTRL
mand
Torque control com-
TRQCTRL
mand
Read servo parameter
SVPRM_RD
command
Write servo parameter
SVPRM_WR
command
Continued from previous page.
Function
Sets the coordinate system.
Turns the brake signal OFF and applies the
holding brake.
Turns the brake signal ON and releases the
holding brake.
Turns the encoder power supply ON, and
gets the position data.
Turns the encoder power supply OFF.
Monitors the SERVOPACK status.
Turns the servo of the motor ON.
Turns the servo of the motor OFF.
Starts positioning to the target position
(TPOS) at the target speed (TSPD).
Starts constant speed feeding at the target
speed (TSPD).
Starts constant speed feeding at the target
speed (TSPD). When an external signal is
input part way through, positioning to the
specified position is performed from the
external signal input position.
Starts positioning to the target position
(TPOS) at the target speed (TSPD). When an
external signal is input part way through,
positioning to the specified position is per-
formed from the external signal input posi-
tion.
Performs zero point return.
Controls speed.
Controls torque.
Reads the specified servo parameter.
Writes the specified servo parameter.
Reference
3.2.1
3.2.2
3.2.3
3.2.4
3.2.5
3.2.6
3.2.7
3.2.8
3.2.9
3.2.10
3.2.11
3.2.12
3.2.13
3.2.14
3.2.15
3.2.16
3.2.17
3.2.18