Subcommands; Combinations Of Main Commands And Subcommands - YASKAWA S-7 Series Command Manual

1.5.3

Subcommands

The standard servo profile subcommands used for Σ -7-Series SERVOPACKs are listed below.
Com-
Category mand Command
Code
00h NOP
05h ALM_RD
06h ALM_CLR
Servo
1Dh MEM_RD
Com-
mands
1Eh MEM_WR
30h SMON
40h SVPRM_RD
41h SVPRM_WR
1.5.4

Combinations of Main Commands and Subcommands

The combinations of main commands and subcommands are listed below. When an invalid
combination is specified, an alarm (SUBCMD_ALM = BH (A.95E)) occurs.
Main Command
NOP (00h)
ID_RD (03h)
CONFIG (04h)
ALM_RD (05h)
Com-
ALM_CLR (06h)
mon
SYNC_SET (0Dh)
Com-
mands
CONNECT (0Eh)
DISCONNECT
(0Fh)
MEM_RD (1Dh)
MEM_WR (1Eh)
Command Name
No operation com-
mand
Read alarm/
warning command
Clear alarm/
warning state com-
mand
Read memory com-
mand
Write memory com-
mand
Monitor servo status
command
Read servo parameter
command
Write servo parameter
command
ALM_
NOP ALM_RD
CLR
(00h) (05h)
(06h)
  
  
× ×

× ×

× ×

× ×

× ×

× ×

 × ×
× ×

Function
Nothing is performed.
Reads the current alarm or warning status,
and the alarm history.
Clears the current alarm or warning status,
and the alarm history.
Reads data from virtual memory.
Writes data to virtual memory.
Monitors the SERVOPACK status.
Reads the specified servo parameter.
Writes the specified servo parameter.
Subcommands
MEM_ MEM_
SMON
RD WR
(30h)
(1Dh) (1Eh)
 
 
× ×
× ×
× ×
× ×
× ×
× ×
× ×
× ×
1.5 List of Commands
1.5.3 Subcommands
Reference
4.2
4.3
4.4
4.5
4.6
4.7
4.8
4.9
SVPRM SVPRM
_RD _WR
(40h) (41h)
  
  
× ×

× ×

× ×

× ×

× × ×
× × ×
 × ×
× ×

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