YASKAWA MECHATROLINK Sigma 2 Series - Page 207

A.1 MECHATROLINK-II Command List
A-3
A
* 1. Main commands are classified as follows:
N: Network command
D: Data communications command
C: Control command
M: Motion command
X: Compound command
* 2. Main commands are classified for synchronization as follows:
S: Synchronous command
A: Asynchronous command
Servo
Standard
Commands
30
SMON Status Monitoring command
DAEnabled
31
SV_ON Servo ON command
CAEnabled
32
SV_OFF Servo OFF command
CAEnabled
34
INTERPO-
LATE
Interpolation Feed com-
mand
MSEnabled
35
POSING Positioning command
MAEnabled
36
FEED Constant Speed Feed com-
mand
MAEnabled
38
LATCH Interpolation Feeding with
Position Detection com-
mand
MSEnabled
39
EX_POSING External Input Positioning
command
MAEnabled
3A
ZRET Zero Point Return command
MAEnabled
3C
VELCTRL Speed Reference command
MAEnabled
Command special
for
MECHATROLIN
K-II
3D
TRQCTRL Torque Reference command
MAEnabled
Command special
for
MECHATROLIN
K-II
3E
ADJ Adjusting command
XADisabled
3F
SVCTRL General-purpose Servo
Control command
XS, AEnabled
Table A.1 Main Command List (cont’d)
Command
Type
Code
Command
Name
Function
Processing
Classifica-
tion *1
Synchroniza-
tion Classifi-
cation *2
Subcom
mand
Remarks