YASKAWA S-7 Series Command Manual page 67

Main Commands
3.1 Common Commands . . . . . . . . . . . . . . . . . . 3-3
3.1.1 No Operation Command (NOP: 00h) . . . . . . . . . . 3-3
3.1.2 Read ID Command (ID_RD: 03h) . . . . . . . . . . . . . 3-4
3.1.3 Setup Device Command (CONFIG: 04h) . . . . . . 3-11
3.1.4 Read Alarm or Warning Command
(ALM_RD: 05h) . . . . . . . . . . . . . . . . . . . . . . . . . 3-13
3.1.5 Clear Alarm or Warning Command
(ALM_CLR: 06h) . . . . . . . . . . . . . . . . . . . . . . . . 3-15
3.1.6 Start Synchronous Communication Command
(SYNC_SET: 0Dh) . . . . . . . . . . . . . . . . . . . . . . . 3-16
3.1.7 Establish Connection Command
(CONNECT: 0Eh) . . . . . . . . . . . . . . . . . . . . . . . . 3-17
3.1.8 Disconnection Command
(DISCONNECT: 0Fh) . . . . . . . . . . . . . . . . . . . . . 3-19
3.1.9 Read Memory Command (MEM_RD: 1Dh) . . . . 3-20
3.1.10 Write Memory Command (MEM_WR: 1Eh) . . . . 3-21
3.2 Servo Commands . . . . . . . . . . . . . . . . . . . 3-24
3.2.1 Set Coordinates Command (POS_SET: 20h) . . . 3-24
3.2.2 Apply Brake Command (BRK_ON: 21h) . . . . . . . 3-26
3.2.3 Release Brake Command (BRK_OFF: 22h) . . . . 3-27
3.2.4 Turn Sensor ON Command (SENS_ON: 23h) . . . 3-30
3.2.5 Turn Sensor OFF Command
(SENS_OFF: 24h) . . . . . . . . . . . . . . . . . . . . . . . 3-31
3.2.6 Servo Status Monitor Command
(SMON: 30h) . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-32
3.2.7 Servo ON Command (SV_ON: 31h) . . . . . . . . . . 3-33
3.2.8 Servo OFF Command (SV_OFF: 32h) . . . . . . . . 3-34
3.2.9 Interpolation Command (INTERPOLATE: 34h) . . 3-36
3.2.10 Positioning Command (POSING: 35h) . . . . . . . . 3-37
3.2.11 Feed Command (FEED: 36h) . . . . . . . . . . . . . . . 3-39
3