Mechatrolink-Ii Commands; Lists Of Commands; Main Commands List - Omron SJDE-ANA-OY Manual

4 MECHATROLINK-II Commands

4.1 Lists of Commands

4.1.1 Main Commands List

The MECHATROLINK-II main commands are classified into three types: Common commands, com-
mon motion commands, and servo standard commands
Classifica- Com-
tions mand
Code
Common 00H
Commands
01H
02H
03H
04H
05H
06H
0DH
0EH
0FH
1CH
Common 20H
Motion
Commands
21H
22H
23H
24H
25H
Command Functions
Name
NOP No Operation
PRM_RD Read Parameter
PRM_WR Write Parameter
ID_RD Read ID
CONFIG Setup Device
ALM_RD Read Alarm or
Warning
ALM_CLR Clear alarm or
warning
SYNC_SET Start Synchro-
nous Communi-
cation
CONNECT Establish Con-
nection
DISCON- Release Discon-
NECT nection
PPRM_WR Write Stored
Parameter
POS_SET Set Coordinates
BRK_ON Apply Brake
BRK_OFF Release Brake
SENS_ON Turn Sensor ON
SENS_OFF Turn Sensor OFF
HOLD Stop Motion
.
Process- Synchroni-
ing Classi- zation Clas-
fications sifications
N Asynchro-
nous
D Asynchro-
nous
D Asynchro-
nous
D Asynchro-
nous
C Asynchro-
nous
D Asynchro-
nous
C Asynchro-
nous
N Asynchro-
nous
N Asynchro-
nous
N Asynchro-
nous
D Asynchro-
nous
D Asynchro-
nous
C Asynchro-
nous
C Asynchro-
nous
C Asynchro-
nous
C Asynchro-
nous
M Asynchro-
nous
55
4.1 Lists of Commands
Subcom- Remarks
mand
Can be
used
Cannot
be used
Cannot
be used
Cannot
be used
Cannot
be used
Cannot
be used
Cannot
be used
Cannot
be used
Cannot
be used
Cannot
be used
Cannot
be used
Cannot
be used
Cannot
be used
Cannot
be used
Cannot
be used
Cannot
be used
Can be
used