2.3 Command Header Section of Subcommand Area
2.3.1 Subcommand Codes (SUB_CMD/SUB_RCMD)
2-11
2
Command Format
2.3
Command Header Section of Subcommand Area
Subcommands use byte 32 to byte 47 of the data field and function as a supplementary com-
mand to the main command. This subsection describes the command header section of the
subcommand area.
2.3.1
Subcommand Codes (SUB_CMD/SUB_RCMD)
This is the subcommand code that specifies the meaning of the subcommand messaging. Byte
32 of the command format is defined as the SUB_CMD/SUB_RCMD field. The data set in this
field of the response data is a copy of that of the command data.
The following table shows the subcommand codes.
*1.
Specification restrictions apply (Refer to the subsection describing each command for the details of the restric-
tions.)
*2.
: Can be executed,
Δ
: Ignored,
×
: Command error, –: Indefinite response data
2.3.2
Subcommand Control (SUB_CTRL)
The following describes the subcommand control data.
Byte 33 to byte 35 of the command format are specified as the SUB_CTRL field.
The SUB_CTRL field is specified as shown below by the communication specification.
SUB_CTRL Field
Profile
Command
Code
Command
Operation
Communication
Phases
*2
1
2
3
Servo Com-
mands
00h
NOP
No operation
–
05h
ALM_RD
*1
Read alarm/warning
–
06h
ALM_CLR
Clear alarm/warning state
–
1Dh
MEM_RD
*1
Read memory command
–
1Eh
MEM_WR
*1
Write memory command
–
30h
SMON
Monitor servo status
–
40h
SVPRM_RD
*1
Read servo parameter
–
41h
SVPRM_WR
Write servo parameter
–
bit 7
bit 6
bit 5
bit 4
bit 3
bit 2
bit 1
bit 0
Reserved
Reserved
Reserved
bit 15
bit 14
bit 13
bit 12
bit 11
bit 10
bit 9
bit 8
SEL_MON4
Reserved
bit 23
bit 22
bit 21
bit 20
bit 19
bit 18
bit 17
bit 16
SEL_MON6
SEL_MON5
