YASKAWA MECHATROLINK Sigma 2 Series User Manual page 211

Byte POS_SET
Command Response
1 20H 20H
2 ALARM
3 STATUS
4
5 PS_SUBCMD PS_SUBCMD
6 POS_DATA POS_DATA
7
8
9
10
11
12
13
14
15
16 WDT RWDT
17
18
19
20
21
22
23
24
25
26
27
28
29
Table A.4 Motion Common Command Format
BRK_ON
Command Response Command
21H 21H 22H
ALARM
STATUS
WDT RWDT WDT
BRK_OFF SENS_ON
Response Command
22H 23H
ALARM
STATUS
RWDT WDT
Response
23H
ALARM
STATUS
RWDT