YASKAWA E-V-MD Series - Page 50

3 Specifications and Dimensional Drawings
3.2.3 MECHATROLINK-III Function Specifications
3-16
(1) Main Commands
Note: Refer to the Σ -V-MD Series User’s Manual MECHATROLINK-III Standard Servo Profile Commands (Manual No.:
SIEP S800001 03) for details on the main commands.
Type
CMD
Code
(Hex)
Command Command Name Function
Common
Commands
00 NOP No operation Nothing is performed.
03 ID_RD Read ID Reads the device ID.
04 CONFIG Setup device Enables the current parameter settings.
05 ALM_RD
Read alarm or
warning
Reads the current alarm or warning status, and the
alarm history.
06 ALM_CLR
Clear alarm or
warning
Clears the current alarm or warning status, and the
alarm history.
0D SYNC_SET
Start synchronous com-
munications
Starts synchronous communications.
0E CONNECT Establish connection
Requests the establishment of a connection and
setting of the communication mode.
0F DISCONNECT Disconnection Requests disconnection.
1D MEM_RD Read virtual memory Reads data from virtual memory.
1E MEM_WR Write virtual memory Writes data to virtual memory.
Servo
Commands
20 POS_SET Set coordinates Sets the coordinate system.
21 BRK_ON Apply brake
Turns the brake signal OFF and applies the holding
brake.
22 BRK_OFF Release brake
Turns the brake signal ON and releases the holding
brake.
23 SENS_ON Turn sensor ON
Turns the encoder power supply ON, and gets the
position data.
24 SENS_OFF Turn sensor OFF Turns the encoder power supply OFF.
25 HOLD Stop motion
Decelerates an axis to a stop at the deceleration
rate set in a parameter.
30 SMON Servo status monitor Monitors the SERVOPACK status.
31 SV_ON Servo ON Turns the servo of the motor ON.
32 SV_OFF Servo OFF Turns the servo of the motor OFF.
34 INTERPOLATE Interpolation Starts interpolation feeding.
35 POSING Positioning
Starts positioning to the target position (TPOS) at
the target speed (TSPD).
36 FEED Feed
Starts constant speed feeding at the target speed
(TSPD).
37 EX_FEED External input feed
Performs constant-speed feeding at the target
speed (TSPD). When the /EXT1 external signal is
received during constant-speed feeding, position-
ing is performed to the target position from the
position where the signal was input.
39 EX_POSING
External input
positioning
Positions to the target position (TPOS) at the target
speed (TSPD). When the /EXT1 external signal is
received during positioning, positioning is per-
formed to the target position from the position
where the signal was input.
3A ZRET Zero point return Performs zero point return.
3C VELCTRL Velocity control Controls speed.
3D TRQCTRL Torque (force) control Controls torque (force).
40 SVPRM_RD Read parameter Reads the specified servo parameter.
41 SVPRM_WR Write parameter Writes the specified servo parameter.