YASKAWA MP2000 Series User Manual

6.3 Motion Subcommands
6.3.1 Motion Subcommand Table
6-101
Motion Commands
6.3 Motion Subcommands
6.3.1 Motion Subcommand Table
This table shows the motion subcommands that are supported by the MP2000-series Machine Controller. Refer to the
section numbers indicated in the Reference column for additional command information.
 Commands in the table displaying an are supported by the Virtual Motion Module (SVR).
6.3.2 Motion Subcommand Settings
It may not be possible to execute some subcommands, depending on the motion command and motion subcommand
combination being used. Refer to 7.1 Switchable Motion Commands and Subcommands for details on which command
combinations are allowed.
In addition, some motion subcommands can not be executed with the MECHATROLINK-I and MECHATROLINK-II
communication. See the following table.
: Can be executed.
×: Cannot be executed.
Command
Code
Command Name Function Reference
0
NOP No Command
This is a null command.
When a subcommand is not being specified, set
this “no command” code.
6.4.1
1
− PRM_RD Read User Constant
Reads the specified SERVOPACK parameter and
stores it in the monitoring parameters.
6.4.2
2
− PRM_WR Write User Constant
Changes the specified SERVOPACK parameter's
set value.
6.4.3
3
− Reserved Reserved by system.
−
−
4
− SMON Status Monitor
Stores the servo driver's status in the monitoring
parameters.
6.4.4
5
FIXPRM_RD Read Fixed Parameters
Reads the specified fixed parameter’s current
value and stores it in the monitoring parameters.
6.4.5
R
R
R
Communication method
Subcommand
MECHATROLINK-I
MECHATROLINK-II
(17-byte)
MECHATROLINK-II
(32-byte)
No Command (NOP)

Read User Constant (PRM_RD) ××
Write User Constant (PRM_WR) ××
Status Monitor (SMON) ××
Read Fixed Parameters
(FIXPRM_RD)

R
R

YASKAWA MP2000 Series Specifications

General

Brand	YASKAWA
Model	MP2000 Series
Category	Controller
Language	English