YASKAWA MECHATROLINK Sigma 2 Series User Manual page 217

Byte NOP
Command Response Command
17 00H 00H
18 SUBSTATUS
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Table A.6 Subcommand Format
PRM_RD PRM_WR
Response Command
01H 01H 02H
SUBSTATUS
NO NO NO
SIZE SIZE SIZE
PARAMETER PARAMETER
ALM_RD
Response Command Response
02H 05H 05H
SUBSTATUS SUBSTATUS
NO ALM_RD_ ALM_RD
MOD _MOD
ALM_DATA
SIZE
PARAMETER
PPRM_RD
Command Response
1BH 1BH
SUBSTATUS
NO NO
SIZE SIZE
PARAMETER