Mechatrolink-Ii Commands; Main Commands - YASKAWA Sigma-V Series User Manual

4.2

MECHATROLINK-II Commands

4.2.1 Main Commands

The following table lists the main commands for MECHATROLINK-II communications.
Command
Code
00 hex NOP
01 hex PRM_RD
02 hex PRM_WR
03 hex ID_RD
04 hex CONFIG
05 hex ALM_RD
06 hex ALM_CLR
0D hex SYNC_SET
0E hex CONNECT
0F hex DISCONNECT
1C hex PPRM_WR
20 hex POS_SET
21 hex BRK_ON
22 hex BRK_OFF
23 hex SENS_ON
24 hex SENS_OFF
25 hex HOLD
28 hex LTMOD_ON
29 hex LTMOD_OFF
30 hex SMON
31 hex SV_ON
32 hex SV_OFF
34 hex INTERPOLATE
35 hex POSING
36 hex FEED
38 hex LATCH
39 hex EX_POSING
3A hex ZRET
3C hex VELCTRL
3D hex TRQCTRL
3E hex ADJ
3F hex SVCTRL
Command
Nothing is performed.
Reads parameters.
Saves parameters.
Reads the device ID.
Enables the current parameter settings.
Reads the current alarm or warning status, and the alarm history.
Clears the current alarm or warning status, and the alarm history.
Starts synchronous communications.
Requests connection.
Requests disconnection.
Saves parameters to non-volatile memory.
Sets the coordinate system.
Turns the brake signal (/BK) OFF to apply the holding brake.
Turns the brake signal (/BK) ON to release the holding brake.
Turns the encoder power supply ON, and gets the position data.
Turns the encoder power supply OFF.
Decelerates an axis at the deceleration rate set in a parameter and performs
positioning.
Enables position data latching with an external signal input.
Disables position data latching with an external signal input.
Monitors the status of the multi-winding drive unit.
Turns the servo of the motor ON.
Turns the servo of the motor OFF.
Starts interpolation feeding.
Starts positioning to the target position (TPOS) at the target speed (TSPD).
Starts constant speed feeding at the target speed (TSPD).
Performs interpolation and latches the position during execution with the
specified latch signal.
Starts positioning to the target position (TPOS) at the target speed (TSPD).
When the latch signal is input during execution, performs positioning from the
latch signal input position to that latch signal input position with the external
positioning final travel distance specified in a parameter added to it.
Performs zero point return.
Controls speed.
Controls torque.
A maintenance command used to monitor data or perform adjustment operations.
Performs general-purpose servo control. This command is compatible with
MECHATROLINK version 1.0 or earlier.

4.2 MECHATROLINK-II Commands

Function
4
4-5