YASKAWA S-7 Series, Command Manual, Page: 35 / 191

1.5 List of Commands
1.5.2 Main Commands
1-8
Servo
Com-
mands
20h POS_SET
Set coordinates com-
mand
Sets the coordinate system. 3.2.1
21h BRK_ON
Request for applying
brake command Turns the brake signal OFF and applies the
holding brake.
3.2.2
22h BRK_OFF
Release brake com-
mand Turns the brake signal ON and releases the
holding brake.
3.2.3
23h SENS_ON
Request for turning
sensor ON command Turns the encoder power supply ON, and
gets the position data.
3.2.4
24h SENS_OFF
Request for turning
sensor OFF command
Turns the encoder power supply OFF. 3.2.5
30h SMON
Monitor servo status
command
Monitors the SERVOPACK status. 3.2.6
31h SV_ON Servo ON command Turns the servo of the motor ON. 3.2.7
32h SV_OFF Servo OFF command Turns the servo of the motor OFF. 3.2.8
34h
INTERPO-
LATE
Interpolation command Starts interpolation feeding. 3.2.9
35h POSING Positioning command
Starts positioning to the target position
(TPOS) at the target speed (TSPD).
3.2.10
36h FEED
Constant speed feed
command Starts constant speed feeding at the target
speed (TSPD).
3.2.11
37h EX_FEED
Positioning at con-
stant speed by external
input command
Starts constant speed feeding at the target
speed (TSPD). When an external signal is
input part way through, positioning to the
specified position is performed from the
external signal input position.
3.2.12
39h EX_POSING
Positioning by external
input command
Starts positioning to the target position
(TPOS) at the target speed (TSPD). When an
external signal is input part way through,
positioning to the specified position is per-
formed from the external signal input posi-
tion.
3.2.13
3Ah ZRET
Zero point return
command
Performs zero point return. 3.2.14
3Ch VELCTRL
Velocity control com-
mand
Controls speed. 3.2.15
3Dh TRQCTRL
Torque control com-
mand
Controls torque. 3.2.16
40h SVPRM_RD
Read servo parameter
command
Reads the specified servo parameter. 3.2.17
41h SVPRM_WR
Write servo parameter
command
Writes the specified servo parameter. 3.2.18
Continued from previous page.
Category
Com-
mand
Code
Command Command Name Function Reference