YASKAWA MECHATROLINK Sigma 2 Series - Page 215

A.2 MECHATROLINK-II Command Format List
A-11
A
Byte EX_POSING ZRET VELCTRL
Command Response Command Response Command Response
1 39H 39H 3AH 3AH 3CH 3CH
2 LT_SGN ALARM LT_SGN ALARM ALARM
3 OPTION STATUS OPTION STATUS OPTION STATUS
4
5 TPOS MONITOR1 MONITOR1 P_TLIM MONITOR1
6
7 N_TLIM
8
9 TSPD MONITOR2 TSPD MONITOR2 VREF MONITOR2
10
11
12
13 SEL_MON1/2 SEL_MON1/2 SEL_MON1/2 SEL_MON1/2 SEL_MON1/2 SEL_MON1/2
14 I/O I/O I/O
15
16 WDT RWDT WDT RWDT WDT RWDT
17 For
subcommands
use. Refer to
4.4 Subcom-
mands.
For
subcommands
use. Refer to
4.4 Subcom-
mands.
For
subcommands
use. Refer to
4.4 Subcom-
mands.
For
subcommands
use. Refer to
4.4 Subcom-
mands.
For
subcommands
use. Refer to
4.4 Subcom-
mands.
For
subcommands
use. Refer to
4.4 Subcom-
mands.
18
19
20
21
22
23
24
25
26
27
28
29
Table A.5 Servo Standard Command Format (cont’d)