YASKAWA S-7 Series Command Manual page 37

1.5 List of Commands
1.5.4 Combinations of Main Commands and Subcommands
Main Command
POS_SET (20h)
BRK_ON (21h)
BRK_OFF (22h)
SENS_ON (23h)
SENS_OFF (24h)
SMON (30h)
SV_ON (31h)
SV_OFF (32h)
Servo
INTERPOLATE (34h)
Com-
POSING (35h)
mands
FEED (36h)
EX_FEED (37h)
EX_POSING (39h)
ZRET (3Ah)
VELCTRL (3Ch)
TRQCTRL (3Dh)
SVPRM_RD (40h)
SVPRM_WR (41h)
: Can be combined
×: Cannot be combined
Information
Example
1-10
NOP ALM_RD
(00h) (05h)
×

×

×

×

 ×
 
 
 
 
 
 
 
 
 
 
 
×

 ×
Even for a valid combination, a command error (A.95A) occurs if the execution conditions of
the commands are not satisfied.
If initialization of a parameter is attempted by the MEM_WR command while sending the
SV_ON command (during the servo ON state), a command error (A.95A) occurs instead of a
command interference error (A.95E).
Subcommands
ALM_ MEM_ MEM_
CLR RD WR
(06h) (1Dh) (1Eh)
× × ×
× × ×
× × ×
× × ×
× × ×
  
  
  
  
  
  
  
  
  
  
  
× × ×
× × ×
Continued from previous page.
SVPRM SVPRM
SMON
_RD _WR
(30h)
(40h) (41h)
× ×

× ×

× ×

× ×

 × ×
  
  
  
  
  
  
  
  
  
  
  
× ×

 × ×