YASKAWA S-7 Series, Command Manual

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2.4 Servo Command Format
2-13
2
Command Format
2.4 Servo Command Format
This section describes the specifications of the servo commands.
The servo commands are specified by the 32-byte command and response data in the com-
munication specifications as shown in the table below.
The command/response data area can be expanded to 48 bytes by using subcommands. For
the subcommands, refer to the following chapter.
Chapter 4 Subcommands
The following table shows the format of the servo command and response data.
Byte Command Response Description
0 CMD RCMD
•
CMD_CTRL: Refer to the following section.
2.2.3 Command Control (CMD_CTRL) on page 2-6.
•
CMD_STAT: Refer to the following section.
2.2.4 Command Status (CMD_STAT) on page 2-7.
•
SVCMD_CTRL: Refer to the following section.
2.5.1 Servo Command Control (SVCMD_CTRL) on
page 2-14.
•
SVCMD_STAT: Refer to the following section.
2.5.2 Servo Command Status (SVCMD_STAT) on page
2-16.
•
SVCMD_IO: Refer to the following section.
2.6 Servo Command I/O Signal (SVCMD_IO) on page
2-22.
•
CMD_DATA/RSP_DATA:
Specified for individual commands.
1 WDT RWDT
2
CMD_CTRL CMD_STAT
3
4
SVCMD_CTRL SVCMD_STAT
5
6
7
8
SVCMD_IO SVCMD_IO
9
10
11
12
CMD_DATA RSP_DATA
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31