YASKAWA E-V-MD Series User Manual page 50

3 Specifications and Dimensional Drawings
3.2.3 MECHATROLINK-III Function Specifications
(1) Main Commands
Type
Common
Commands
Servo
Commands
Note: Refer to the
SIEP S800001 03) for details on the main commands.
3-16
CMD
Code Command
(Hex)
00 NOP No operation
03 ID_RD Read ID
04 CONFIG Setup device
Read alarm or
05 ALM_RD
warning
Clear alarm or
06 ALM_CLR
warning
Start synchronous com-
0D SYNC_SET
munications
0E CONNECT Establish connection
0F DISCONNECT Disconnection
1D MEM_RD Read virtual memory
1E MEM_WR Write virtual memory
20 POS_SET Set coordinates
21 BRK_ON Apply brake
22 BRK_OFF Release brake
23 SENS_ON Turn sensor ON
24 SENS_OFF Turn sensor OFF
25 HOLD Stop motion
30 SMON Servo status monitor
31 SV_ON Servo ON
32 SV_OFF Servo OFF
34 INTERPOLATE Interpolation
35 POSING Positioning
36 FEED Feed
37 EX_FEED External input feed
External input
39 EX_POSING
positioning
3A ZRET Zero point return
3C VELCTRL Velocity control
3D TRQCTRL Torque (force) control
40 SVPRM_RD Read parameter
41 SVPRM_WR Write parameter
Σ
-V-MD Series User's Manual MECHATROLINK-III Standard Servo Profile Commands (Manual No.:
Command Name
Nothing is performed.
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 the establishment of a connection and
setting of the communication mode.
Requests disconnection.
Reads data from virtual memory.
Writes data to virtual memory.
Sets the coordinate system.
Turns the brake signal OFF and applies the holding
brake.
Turns the brake signal ON and releases the holding
brake.
Turns the encoder power supply ON, and gets the
position data.
Turns the encoder power supply OFF.
Decelerates an axis to a stop at the deceleration
rate set in a parameter.
Monitors the SERVOPACK status.
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 constant-speed feeding at the target
speed (TSPD). When the /EXT1 external signal is
received during constant-speed feeding, position-
ing is performed to the target position from the
position where the signal was input.
Positions to the target position (TPOS) at the target
speed (TSPD). When the /EXT1 external signal is
received during positioning, positioning is per-
formed to the target position from the position
where the signal was input.
Performs zero point return.
Controls speed.
Controls torque (force).
Reads the specified servo parameter.
Writes the specified servo parameter.
Function