YASKAWA MECHATROLINK Sigma 2 Series User Manual page 206

Appendix A List of MECHATROLINK-II Commands and Command Formats
A.1 MECHATROLINK-II Command List
Command Command
Code
Type
00
Common NOP
Command
01
PRM_RD
02
PRM_WR
03
ID_RD
04
CONFIG
05
ALM_RD
06
ALM_CLR
0D
SYNC_SET
0E
CONNECT
0F
DISCON-
NECT
1B
PPRM_RD
1C
PPRM_WR
20
Motion POS_SET
Common
21
BRK_ON
Command
22
BRK_OFF
23
SENS_ON
24
SENS_OFF
25
HOLD
26
MLOCK_ON
27
MLOCK_OFF
28
LTMODE_ON
29
LTMODE_OF
F
The following table shows main commands such as MECHATROLINK-II common commands,
motion common commands, and servo standard commands.
Table A.1 Main Command List
Function
Name
No Operation command
Read Parameter command
Write Parameter command
Read ID command
Set Up Device command
Read Alarm or Warning
command
Clear Alarm/Warning com-
mand
Start Synchronous Commu-
nications command
MECHATROLINK-II Con-
nection command
Disconnection command
Read Non-volatile Parame-
ter command
Write Non-volatile Parame-
ter command
Set Coordinates command
Apply Brake command
Release Brake command
Turn Sensor ON command
Turn Sensor OFF command
Stop Motion command
Machine Lock Mode ON
command
Machine Lock Mode OFF
command
Request Latch Mode com-
mand
Release Latch Mode com-
mand
Processing Synchroniza-
Classifica- tion Classifi-
tion *1 cation *2
N A
D A
D A
D A
C A
D A
C A
N A
N A
N A
D A
D A
D A
C A
C A
C A
C A
M A
C A
C A
C A
C A
A-2
Subcom
Remarks
mand
Enabled
Disabled
Disabled
Disabled
Disabled
Disabled
Disabled
Disabled
Disabled
Disabled
Disabled
Not supported
Disabled
Disabled
Disabled
Disabled
Disabled
Disabled
Enabled
Enabled
Not supported
Enabled
Not supported
Enabled
NS115 extended
command
Enabled
NS115 extended
command