YASKAWA MECHATROLINK Sigma 2 Series User Manual page 207

Command Command
Code
Type Name
30
Servo SMON
Standard
31
SV_ON
Commands
32
SV_OFF
34
INTERPO-
LATE
35
POSING
36
FEED
38
LATCH
39
EX_POSING
3A
ZRET
3C
VELCTRL
3D
TRQCTRL
3E
ADJ
3F
SVCTRL
* 1. Main commands are classified as follows:
N: Network command
D: Data communications command
C: Control command
M: Motion command
X: Compound command
* 2. Main commands are classified for synchronization as follows:
S: Synchronous command
A: Asynchronous command
Table A.1 Main Command List (cont'd)
Processing
Function
Status Monitoring command
Servo ON command
Servo OFF command
Interpolation Feed com-
mand
Positioning command
Constant Speed Feed com-
mand
Interpolation Feeding with
Position Detection com-
mand
External Input Positioning
command
Zero Point Return command
Speed Reference command
Torque Reference command
Adjusting command
General-purpose Servo
Control command
A-3
A.1 MECHATROLINK-II Command List
Synchroniza-
Classifica- tion Classifi-
tion *1 cation *2
D A
C A
C A
M S
M A
M A
M S
M A
M A
M A
M A
X A
X S, A
Subcom
Remarks
mand
Enabled
Enabled
Enabled
Enabled
Enabled
Enabled
Enabled
Enabled
Enabled
Enabled
Command special
for
MECHATROLIN
K-II
Enabled
Command special
for
MECHATROLIN
K-II
Disabled
Enabled
A