Command Header Section Of Main Command Area; Command Code (Cmd/Rcmd) - YASKAWA S-7 Series Command Manual

2.2

Command Header Section of Main Command Area

This section describes the command header section of the main command area.
2.2.1

Command Code (CMD/RCMD)

This is the command code that defines the meaning of the messaging. Byte 0 of the command
format is defined as the CMD/RCMD field. The data set in this field of the response data is a
copy of that of the command data.
The following table shows the command codes.
Command
Profile
Common
Com-
mands
Servo
Com-
mands
*1.
This column shows whether the commands can be used with the
: Can be used, Δ: Can be used with restrictions (Refer to the section for each command for actual restric-
tions.), ×: Cannot be used.
Command
Code
00h NOP
01h PRM_RD
02h PRM_WR
03h ID_RD
04h CONFIG
05h ALM_RD
06h ALM_CLR
0Dh SYNC_SET
0Eh CONNECT
0Fh DISCONNECT
1Bh PPRM_RD
1Ch PPRM_WR
1Dh MEM_RD
1Eh MEM_WR
20h POS_SET
21h BRK_ON
22h BRK_OFF
23h SENS_ON
24h SENS_OFF
30h SMON
31h SV_ON
32h SV_OFF
34h INTERPOLATE
35h POSING
36h FEED
37h EX_FEED
39h EX_POSING
3Ah ZRET
3Ch VELCTRL
3Dh TRQCTRL
40h SVPRM_RD
41h SVPRM_WR

2.2 Command Header Section of Main Command Area

Operation
No operation
Read parameter
Write parameter
Read ID
Device setup request
Read alarm/warning
Clear alarm/warning state
Request for establishing syn-
chronization
Request for establishing con-
nection
Request for releasing connec-
tion
Read stored parameter
Write stored parameter
Read memory
Write memory
Set coordinates
Request for applying brake
Release brake
Request for turning sensor ON
Request for turning sensor
OFF
Monitor servo status
Servo ON
Servo OFF
Interpolation
Positioning
Constant speed feed
Positioning at constant speed
by external input
Positioning by external input
Zero point return
Velocity control
Torque control
Read servo parameter
Write servo parameter
Σ
-7 Series.

2.2.1 Command Code (CMD/RCMD)

Communica-
*1
tion Phases
Applicability
1 2
 
–
*2 ×
×
–
*2 ×
×
–
 
–
Δ 
–
Δ

–
 
–
 
–
Δ
 
  
×
*2
×
–
*2 ×
×
–
Δ 
–
Δ

–
 
–
 
–
 
–
 
–
 
–
 
–
 
–
 
–
×

–
 
–
 
–
 
–
 
–
 
–
 
–
 
–
Δ 
–
 
–
*3
3

×
×




Δ
Δ

×
×








2












2-5