Subcommand Control (Sub_Ctrl) - YASKAWA S-7 Series Command Manual

2.3 Command Header Section of Subcommand Area
Subcommands use byte 32 to byte 47 of the data field and function as a supplementary com-
mand to the main command. This subsection describes the command header section of the
subcommand area.
2.3.1 Subcommand Codes (SUB_CMD/SUB_RCMD)
This is the subcommand code that specifies the meaning of the subcommand messaging. Byte
32 of the command format is defined as the SUB_CMD/SUB_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 subcommand codes.
Profile
Servo Com-
mands
*1.
Specification restrictions apply (Refer to the subsection describing each command for the details of the restric-
tions.)
: Can be executed, Δ: Ignored, ×: Command error, –: Indefinite response data
*2.
2.3.2

Subcommand Control (SUB_CTRL)

The following describes the subcommand control data.
Byte 33 to byte 35 of the command format are specified as the SUB_CTRL field.
The SUB_CTRL field is specified as shown below by the communication specification.
SUB_CTRL Field
bit 7
Reserved
bit 15
bit 23
Command
Command
Code
00h NOP
*1
05h
ALM_RD
06h ALM_CLR
*1
1Dh
MEM_RD
*1
1Eh
MEM_WR
30h SMON
*1
40h
SVPRM_RD
41h SVPRM_WR
bit 6 bit 5
Reserved
bit 14 bit 13 bit 12
SEL_MON4
bit 22 bit 21 bit 20
SEL_MON6
2.3 Command Header Section of Subcommand Area
2.3.1 Subcommand Codes (SUB_CMD/SUB_RCMD)
Operation
No operation
Read alarm/warning
Clear alarm/warning state
Read memory command
Write memory command
Monitor servo status
Read servo parameter
Write servo parameter
bit 4 bit 3 bit 2
bit 11 bit 10
bit 19 bit 18
Communication
*2
Phases
1 2

–

–

–

–

–

–

–

–
bit 1 bit 0
Reserved
bit 9 bit 8
Reserved
bit 17 bit 16
SEL_MON5
3








2
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