4.4 Subcommands
4-49
4
4.4
Subcommands
This section describes the subcommands for the NS115. The MECHATROLINK-II
subcommands can be used by specifying them with the CONNECT command when the
MECHATROLINK-II communications is started.
They use the seventeenth to the twenty-ninth bytes of the command and response data. (They
cannot be used with MECHATROLINK-I.)
The subcommands can be used in combination with the main commands described in Table 4.3.
Table 4.3 Combination of Main Commands and Subcommands
Code
Main
Command
Subcommand
NOP
PRM_RD PRM_WR ALM_RD PPRM_WR LTMOD_ON LTMOD_OFF
SMON
00
NOP
OK
OK
OK
OK
OK
OK
OK
OK
01
PRM_RD
OK
NO
NO
NO
NO
NO
NO
OK
02
PRM_WR
OK
NO
NO
NO
NO
NO
NO
OK
03
ID_RD
OK
OK
OK
OK
OK
OK
OK
OK
04
CONFIG
OK
NO
NO
NO
NO
NO
NO
OK
05
ALM_RD
OK
NO
NO
NO
NO
NO
NO
OK
06
ALM_CLR
OK
NO
NO
NO
NO
NO
NO
OK
0D
SYNC_SET
OK
NO
NO
NO
NO
NO
NO
NO
0E
CONNECT
OK
NO
NO
NO
NO
NO
NO
NO
0F
DISCONNECT
OK
NO
NO
NO
NO
NO
NO
NO
1C
PPRM_WR
OK
NO
NO
NO
NO
NO
NO
OK
20
POS_SET
OK
NO
NO
NO
NO
NO
NO
OK
21
BRK_ON
OK
NO
NO
NO
NO
NO
NO
OK
22
BRK_OFF
OK
NO
NO
NO
NO
NO
NO
OK
23
SENS_ON
OK
NO
NO
NO
NO
NO
NO
OK
24
SENS_OFF
OK
NO
NO
NO
NO
NO
NO
OK
25
HOLD
OK
OK
OK
OK
OK
OK
OK
OK
28
LTMOD_ON
OK
OK
OK
OK
OK
OK
OK
OK
29
LTMOD_OFF
OK
OK
OK
OK
OK
OK
OK
OK
30
SMON
OK
OK
OK
OK
OK
OK
OK
OK
31
SV_ON
OK
OK
OK
OK
OK
OK
OK
OK
32
SV_OFF
OK
OK
OK
OK
OK
OK
OK
OK
34
INTERPOLATE
OK
OK
OK
OK
OK
OK
OK
OK
35
POSING
OK
OK
OK
OK
OK
OK
OK
OK
36
FEED
OK
OK
OK
OK
OK
OK
OK
OK
38
LATCH
OK
OK
OK
OK
OK
NO
NO
OK
39
EX_POSING
OK
OK
OK
OK
OK
NO
NO
OK
3A
ZRET
OK
OK
OK
OK
OK
NO
NO
OK
3C
VELCTRL
OK
OK
OK
OK
OK
OK
OK
OK
3D
TRQCTRL
OK
OK
OK
OK
OK
OK
OK
OK
