YASKAWA MECHATROLINK Sigma 2 Series - Page 206

Appendix A List of MECHATROLINK-II Commands and Command Formats
A-2
A.1 MECHATROLINK-II Command List
The following table shows main commands such as MECHATROLINK-II common commands,
motion common commands, and servo standard commands.
Table A.1 Main Command List
Command
Type
Code
Command
Name
Function
Processing
Classifica-
tion *1
Synchroniza-
tion Classifi-
cation *2
Subcom
mand
Remarks
Common
Command
00
NOP No Operation command
NAEnabled
01
PRM_RD Read Parameter command
DADisabled
02
PRM_WR Write Parameter command
DADisabled
03
ID_RD Read ID command
DADisabled
04
CONFIG Set Up Device command
CADisabled
05
ALM_RD Read Alarm or Warning
command
DADisabled
06
ALM_CLR Clear Alarm/Warning com-
mand
CADisabled
0D
SYNC_SET Start Synchronous Commu-
nications command
NADisabled
0E
CONNECT MECHATROLINK-II Con-
nection command
NADisabled
0F
DISCON-
NECT
Disconnection command
NADisabled
1B
PPRM_RD Read Non-volatile Parame-
ter command
DADisabled
Not supported
1C
PPRM_WR Write Non-volatile Parame-
ter command
DADisabled
Motion
Common
Command
20
POS_SET Set Coordinates command
DADisabled
21
BRK_ON Apply Brake command
CADisabled
22
BRK_OFF Release Brake command
CADisabled
23
SENS_ON Turn Sensor ON command
CADisabled
24
SENS_OFF Turn Sensor OFF command
CADisabled
25
HOLD Stop Motion command
MAEnabled
26
MLOCK_ON Machine Lock Mode ON
command
CAEnabled
Not supported
27
MLOCK_OFF Machine Lock Mode OFF
command
CAEnabled
Not supported
28
LTMODE_ON Request Latch Mode com-
mand
CAEnabled
NS115 extended
command
29
LTMODE_OF
F
Release Latch Mode com-
mand
CAEnabled
NS115 extended
command