YASKAWA MECHATROLINK Sigma 2 Series - Page 216

Appendix A List of MECHATROLINK-II Commands and Command Formats
A-12
Byte TRQCTRL ADJ SVCTRL
Command Response Command Response Command Response
1 3DH 3DH 3EH 3EH 3FH 3FH
2 ALARM ALARM CTRL_CMD ALARM
3 OPTION STATUS STATUS OPTION STATUS
4
5 VLIM MONITOR1 CCMD CANS TPOS MONITOR1
6 CADDRESS CADDRESS
7
8 CDATA CDATA
9 TQREF MONITOR2 TSPD
OR
VFF
MONITOR2
10
11
12
13 SEL_MON1/2 SEL_MON1/2 SEL_MON1/2 SEL_MON1/2
14 I/O SQ_CMD 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)