Motion Sub-Command Table; Motion Subcommand Settings - YASKAWA JEPMC-MP2300-Y Series User Manual

7.3 Motion Subcommands

7.3.1 Motion Sub-command Table

Command
Code
NOP
0
R
−
PRM_RD
1
− PRM_WR
2
−
Reserved
3
− SMON
4
FIXPRM_RD
5
R

7.3.2 Motion Subcommand Settings

Subcommand
No Command (NOP)
Read SERVOPACK Parameter
(PRM_RD)
Write SERVOPACK Parameter
(PRM_WR)
Monitor Status (SMON)
Read Fixed Parameters
(FIXPRM_RD)
This table shows the motion subcommands that are supported by the MP2300. Refer to the page in
the Table under Details for additional command information.
Command Name
No Command
Read SERVOPACK
Parameter
Write SERVOPACK
Parameter
Reserved by system.
Monitor Status
Read Fixed Parameters
Commands in the table displaying an
It may not be possible to execute some subcommands, depending on the motion command and
motion subcommand combination being used. Refer to Appendix A Switching Motion Commands
and Subcommands on page A-2 for details on which command combinations are allowed.
In addition, some motion subcommands can not be executed with the MECHATROLINK-I and
MECHATROLINK-II communication. (See the following table.)
Communication method
MECHATROLINK- I
R
R
This is a null command.
When a subcommand is not being specified, set
this "no command" code.
Reads the specified SERVOPACK parameter and
stores it in the monitoring parameters.
Changes the specified SERVOPACK parameter's
set value.
−
Stores the servo driver's status in the monitoring
parameters.
Reads the specified fixed parameter's current
value and stores it in the monitoring parameters.
are supported by the Virtual Motion Module (SVR).
R
MECHATROLINK- II
(17-byte)
Executable Executable
Not executable Not executable
Not executable Not executable
Not executable Not executable
Executable Executable
7.3 Motion Subcommands
Function
MECHATROLINK- II
(32-byte)
Executable
Executable
Executable
Executable
Executable
Reference
Page
7-96
7-97
7-98
−
7-100
7-102
7-95