YASKAWA MECHATROLINK Sigma 2 Series User Manual page 216

Byte TRQCTRL
Command Response
1 3DH 3DH
2 ALARM
3 OPTION STATUS
4
5 VLIM MONITOR1
6
7
8
9 TQREF MONITOR2
10
11
12
13 SEL_MON1/2 SEL_MON1/2
14 I/O
15
16 WDT RWDT
17 For For
subcommands subcommands
18
use. Refer to use. Refer to
19
4.4 Subcom- 4.4 Subcom-
20 mands. mands.
21
22
23
24
25
26
27
28
29
Table A.5 Servo Standard Command Format (cont'd)
ADJ
Command Response
3EH 3EH
ALARM
STATUS
CCMD CANS
CADDRESS CADDRESS
CDATA CDATA
WDT RWDT
For For
subcommands subcommands
use. Refer to use. Refer to
4.4 Subcom- 4.4 Subcom-
mands. mands.
SVCTRL
Command Response
3FH 3FH
CTRL_CMD ALARM
OPTION STATUS
TPOS MONITOR1
TSPD MONITOR2
OR
VFF
SEL_MON1/2 SEL_MON1/2
SQ_CMD I/O
WDT RWDT
For For
subcommands subcommands
use. Refer to use. Refer to
4.4 Subcom- 4.4 Subcom-
mands. mands.