Omron SJDE-ANA-OY - 4 MECHATROLINK-II Commands; Lists of Commands; Main Commands List

4.1 Lists of Commands
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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-
tions
Com-
mand
Code
Command
Name
Functions Process-
ing Classi-
fications
Synchroni-
zation Clas-
sifications
Subcom-
mand
Remarks
Common
Commands
00H NOP No Operation N Asynchro-
nous
Can be
used
01H PRM_RD Read Parameter D Asynchro-
nous
Cannot
be used
02H PRM_WR Write Parameter D Asynchro-
nous
Cannot
be used
03H ID_RD Read ID D Asynchro-
nous
Cannot
be used
04H CONFIG Setup Device C Asynchro-
nous
Cannot
be used
05H ALM_RD Read Alarm or
Warning
D Asynchro-
nous
Cannot
be used
06H ALM_CLR Clear alarm or
warning
C Asynchro-
nous
Cannot
be used
0DH SYNC_SET Start Synchro-
nous Communi-
cation
N Asynchro-
nous
Cannot
be used
0EH CONNECT Establish Con-
nection
N Asynchro-
nous
Cannot
be used
0FH DISCON-
NECT
Release Discon-
nection
N Asynchro-
nous
Cannot
be used
1CH PPRM_WR Write Stored
Parameter
D Asynchro-
nous
Cannot
be used
Common
Motion
Commands
20H POS_SET Set Coordinates D Asynchro-
nous
Cannot
be used
21H BRK_ON Apply Brake C Asynchro-
nous
Cannot
be used
22H BRK_OFF Release Brake C Asynchro-
nous
Cannot
be used
23H SENS_ON Turn Sensor ON C Asynchro-
nous
Cannot
be used
24H SENS_OFF Turn Sensor OFF C Asynchro-
nous
Cannot
be used
25H HOLD Stop Motion M Asynchro-
nous
Can be
used
TOEP_C710806_03A_1_0.book Seite 55 Montag, 2. Juli 2007 3:55 15