YASKAWA S-7 Series, Command Manual, Page: 34 / 191

1.5 List of Commands
1.5.1 Command Types
1-7
1
MECHA
TROLINK-III Communication
S
etting
s
1.5 List of Commands
1.5.1 Command Types
Standard servo profile commands are classified into common commands and servo com-
mands.
Common commands:Commands that are common for MECHATROLINK-III communications,
independent of profiles
Servo commands:Commands that are defined in the standard servo profile and specific to
SERVOPACKs
1.5.2 Main Commands
The standard servo profile main commands used for
Σ
-7-Series SERVOPACKs are listed
below.
Category
Com-
mand
Code
Command Command Name Function Reference
Common
Com-
mands
00h NOP
No operation com-
mand
Nothing is performed. 3.1.1
03h ID_RD Read ID command Reads the device ID. 3.1.2
04h CONFIG
Device setup request
command
Enables the current parameter settings. 3.1.3
05h ALM_RD
Read alarm/
warning command Reads the current alarm or warning status,
and the alarm history.
3.1.4
06h ALM_CLR
Clear alarm/
warning state com-
mand
Clears the current alarm or warning status,
and the alarm history.
3.1.5
0Dh SYNC_SET
Request for establish-
ing
synchronization com-
mand
Starts synchronous communications. 3.1.6
0Eh CONNECT
Request for establish-
ing
connection command
Requests the establishment of a connection
and setting of the communication mode.
3.1.7
0Fh
DISCON-
NECT Request for releasing
connection command
Requests disconnection. 3.1.8
1Dh MEM_RD
Read memory com-
mand
Reads data from virtual memory. 3.1.9
1Eh MEM_WR
Write memory com-
mand
Writes data to virtual memory. 3.1.10
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