Yaskawa SGDS Sigma III Servo Amplifier - Manual (Page 175)

6 MECHATROLINK II Communications
6.4.1 No Operation (NOP: 00H)
6-44
6.4 Subcommands
This section describes the subcommands for SGDS- 12A SERVOPACK. The MECHATROLINK II sub-
commands can be used for MECHATROLINK II communications by specifying them with the CONNECT com-
mand.
They use the seventeenth to the twenty-ninth bytes of the command and response data. (They cannot be used with
MECHATROLINK.)
6.4.1 No Operation (NOP: 00H)
6.4.2 Read Parameter (PRM_RD: 01H)
Byte NOP Description
Command Response Processing
classifications Network com-
mand group Processing time Within communi-
cations cycle
17 00H 00H • Not operation command.
• This command can be used with any main commands.
18 Substatus
19
20
21
22
23
24
25
26
27
28
29
Byte PRM_RD Description
Command Response Processing
classifications Network com-
mand group Processing time Within 6 ms
17 01H 01H • Reads the parameters. This command has the same function as the main
command PRM_RD.
• This command can be used only with the following main commands:
NOP, ID-RD, HOLD, LTMOD_ON/OFF, SMON, SV_ON/OFF,
INTERPOLATE, POSING, FEED, LATCH, EX_POSING, ZRET, VELCTRL,
TRQCTRL
18 Substatus
19 NO NO
20
21
SIZE SIZE
22 PARAMETER
23
24
25
26
27
28
29