Compatible Devices
Verified Device
Accessible Data (Core Commands)
| ABBR |
Action |
Type |
| AB |
Abort motion and program |
Command |
| ABA |
Abort motion only |
Command |
| AC |
Acceleration |
Data R/W |
| AD |
After distance |
Data R/W |
| AI |
After input |
Data R/W |
| AO |
Analog output |
Data R/W |
| AP |
After absolute position |
Data R/W |
| AR |
After relative distance |
Data R/W |
| AT |
At time |
Data R/W |
| BG |
Begin motion |
Command |
| DC |
Deceleration |
Data R/W |
| DP |
Define position |
Data R/W |
| JG |
Jog |
Data R/W |
| KP / KI / KD |
PID parameters |
Data R/W |
| MO |
Motor off |
Command/Status |
| PA |
Position absolute |
Data R/W |
| PR |
Position relative |
Data R/W |
| SP |
Speed |
Data R/W |
| ST |
Stop |
Command |
[yaskawasmc-g3 | Word]
Status / Feedback Reads
| Command |
Description |
| TP |
Tell position |
| TV |
Tell velocity |
| TT |
Tell torque |
| TI |
Tell inputs |
| TS |
Tell switches |
| TB |
Tell status byte |
| TC |
Tell error code |
| TD |
Tell dual encoder |
| TE |
Tell error |
[yaskawasmc-g3 | Word]
Motion / Control
| Command |
Description |
| HM |
Home |
| MF |
Move forward |
| MR |
Move reverse |
| MC |
Motion complete |
| SH |
Servo here |
| TL |
Torque limit |
| WT |
Wait |
| TM |
Time command |
[yaskawasmc-g3 | Word]
Communication / Networking
| Command |
Description |
| IA |
Set IP address (not TCP) |
| IH |
Open internet handle |
| IHA / IHB / IHC / IHD |
Handle configuration |
| IHE |
Close connection |
| CH |
Connect handle (execute send/receive) |
| CHA / CHB / CHC |
Handle data staging |
[yaskawasmc-g3 | Word]
User Variables
YP through YY
- Can be extended using indexing:
VariableArray[YY] = YX
- Advanced mapping example:
VariableArray[(YY >> 24)] = (YY & 0x00FFFFFF)
[yaskawasmc-g3 | Word]
Action Type Behavior
- COMMAND
→ Write executes immediately
- DATA R/W
→ Read current value / Write updates value
- READ DATA
→ Read only (writes ignored)
- COMMAND DATA
→ Data staged in HMI, sent when base command executes
- COMMAND/STATUS
→ Write executes, read returns status
- BIT WRITE
→ 0 clears bit, non-zero sets bit [yaskawasmc-g3 | Word]
Special Notes
- Reading COMMAND items returns 0
- HX and XQ accept line numbers:
TCP Configuration
- G3 must use fixed IP
- SMC IP can be set via:
Cable Information
RS232
| Signal |
G3 |
SMC |
| TxD |
Pin 5 |
Pin 3 |
| RxD |
Pin 2 |
Pin 2 |
| CTS |
Pin 6 |
Pin 4 |
| RTS |
Pin 1 |
Pin 1 |
| Common |
Pin 3/4 |
Pin 5 |
[yaskawasmc-g3 | Word]
Important Wiring Note
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