| Accel/Decel setting of PTP motion (Accel) | 0 | 000H | Sets acceleration and deceleration for PTP motion | 3 | 3 |
| 1 | 001H | Registers to the accel/decel table | 4 | 3 |
| 2 | 002H | Acquires the currently set accel/decel values | 1 | 3 |
| 3 | 003H | Acquires acceleration and deceleration values from the accel/decel table for PTP motion | 2 | 4 |
| Accel/ Decel settings for Linear and CP motion (AccelS) | 50 | 032H | Sets acceleration and deceleration | 5 | 3 |
| 51 | 033H | Sets acceleration setting value | 3 | 3 |
| 52 | 034H | Informs the Controller of deceleration setting value and sets acceleration and deceleration | 3 | 3 |
| 53 | 035H | Registers to the accel/decel table | 6 | 3 |
| 54 | 036H | Registers acceleration setting value to the accel/decel table | 4 | 3 |
| 55 | 037H | Registers deceleration setting value to the accel/decel table | 4 | 3 |
| 56 | 038H | Acquires the currently set accel/decel values | 1 | 5 |
| 57 | 039H | Acquires current acceleration value | 1 | 3 |
| 58 | 03AH | Acquires current deceleration value | 1 | 3 |
| 59 | 03BH | Acquires the registered values from the accel/ decel table | 2 | 6 |
| 60 | 03CH | Acquires the registered acceleration value from the accel/decel table | 2 | 4 |
| 61 | 03DH | Acquires the registered deceleration value from the accel/decel table | 2 | 4 |
| Accel/decel setting of Tool orientation change in CP motion (AccelR) | 100 | 064H | Sets the acceleration and deceleration | 5 | 3 |
| 101 | 065H | Sets the acceleration value of the acceleration and deceleration | 3 | 3 |
| 102 | 066H | Sets the deceleration value of the acceleration and deceleration | 3 | 3 |
| 103 | 067H | Registers to the accel/decel table | 6 | 3 |
| 104 | 068H | Registers acceleration value to the accel/decel table | 4 | 3 |
| 105 | 069H | Registers deceleration value to the accel/decel table | 4 | 3 |
| 106 | 06AH | Acquires the currently set accel/decel values | 1 | 5 |
| 107 | 06BH | Acquires current acceleration value | 1 | 3 |
| 108 | 06CH | Acquires current deceleration value | 1 | 3 |
| 109 | 06DH | Acquires the registered value from the accel/decel table | 2 | 6 |
| 110 | 06EH | Acquires the registered acceleration value from the accel/decel table | 2 | 4 |
| 111 | 06FH | Acquires the registered deceleration value from the accel / decel table | 2 | 4 |
| Speed setting of PTP motion (Speed) | 150 | 096H | Sets the speed | 4 | 3 |
| 151 | 097H | Registers to the speed table | 5 | 3 |
| 152 | 098H | Acquires current speed setting value | 1 | 4 |
| 153 | 099H | Acquires the setting value from the speed table | 2 | 5 |
| Arm speed setting of CP motion (SpeedS) | 200 | 0C8H | Sets the speed, depart speed, and approach speed settings | 7 | 3 |
| 201 | 0C9H | Sets the setting values of speed and depart speed to the Controller. | 5 | 3 |
| 202 | 0CAH | Notifies and sets the approach speed setting value | 3 | 3 |
| 203 | 0CBH | Registers to the speed table | 8 | 3 |
| 204 | 0CCH | Registers speed and depart speed to the speed table | 6 | 3 |
| 205 | 0CDH | Registers approach speed to the speed table | 4 | 3 |
| 206 | 0CEH | Acquires current speed, depart speed, and approach speed | 1 | 7 |
| 207 | 0CFH | Acquires the setting values of current speed and depart speed | 1 | 5 |
| 208 | 0D0H | Acquires the set value of current approach speed | 1 | 3 |
| 209 | 0D1H | Acquires the setting value from the speed table | 2 | 8 |
| 210 | 0D2H | Registers speed and depart speed to the speed table | 2 | 6 |
| 211 | 0D3H | Acquires the approach speed from the speed table | 2 | 4 |
| Speed setting of Tool orientation change in CP motion when using ROT (SpeedR) | 250 | 0FAH | Sets the speed | 3 | 3 |
| 251 | 0FBH | Registers to the speed table | 4 | 3 |
| 252 | 0FCH | Acquires current speed setting value | 1 | 3 |
| 253 | 0FDH | Acquires the setting value from the speed table | 2 | 4 |
| Parameter setting to offset speed and accel/decel in PTP motion (Weight) | 300 | 12CH | Acquires the setting value from the speed table | 5 | 3 |
| 301 | 12DH | Sets the parameter for offsetting the speed and accel/decel in PTP motion without an arm length specified | 3 | 3 |
| 302 | 12EH | Acquires the parameter setting value for offsetting the speed and accel/decel in PTP motion | 1 | 5 |
| Load inertia and eccentricity setting (Inertia) | 350 | 15EH | Sets the load inertia and eccentricity | 5 | 3 |
| 351 | 15FH | Sets the load inertia | 3 | 3 |
| 352 | 160H | Sets the eccentricity | 3 | 3 |
| 353 | 161H | Acquires the setting values of load inertia and eccentricity | 1 | 5 |
| 354 | 162H | Acquires the setting value of the load inertia | 1 | 3 |
| 355 | 163H | Acquires the setting value of the eccentricity | 1 | 3 |
| Arch parameter setting (Arch) | 400 | 190H | Sets the arch parameter | 6 | 3 |
| 401 | 191H | Sets the depart distance of the arch parameter | 4 | 3 |
| 402 | 192H | Sets the approach distance of the arch parameter | 4 | 3 |
| 403 | 193H | Acquires the arch parameter | 2 | 6 |
| 404 | 194H | Acquires the depart distance setting value | 2 | 4 |
| 405 | 195H | Acquires the approach distance setting value | 2 | 4 |
| Setting of positioning end judgement range (Fine) | 450 | 1C2H | Executes the settings of all joints | 7 | 3 |
| 451 | 1C3H | Sets the setting values of Joint #1, #2, and #3 | 4 | 3 |
| 452 | 1C4H | Sets the setting values of Joint #4, #5, and #6 | 4 | 3 |
| 453 | 1C5H | Acquires the setting values of all joints | 1 | 7 |
| 454 | 1C6H | Acquires the setting values of Joint #1, #2, and #3 | 1 | 4 |
| 455 | 1C7H | Acquires the setting values of Joint #4, #5, and #6 | 1 | 4 |
| Tool selection (Tool) | 500 | 1F4H | Selects the tool | 2 | 3 |
| 501 | 1F5H | Acquires the tool selection status | 1 | 3 |
| 502 | 1F6H | Defines tool coordinate system | 3 | 3 |
| Pallet definition (Pallet) | 550 | 226H | Defines the pallet by specifying 4 points | 8 | 3 |
| 551 | 227H | Defines the pallet by specifying 3 points | 7 | 3 |
| 552 | 228H | Limits the numbers of points and divisions to define the pallet | 4 | 3 |
| 553 | 229H | Selects the data type and defines the pallet by split | 5 | 3 |
| 554 | 22AH | Acquires the content of 4-point pallet definition | 6 | 3 |
| 555 | 22BH | Acquires the content of 3-point pallet definition | 5 | 3 |
| 556 | 22CH | Limits the number of points and division and acquires the pallet definition | 4 | 3 |
| 557 | 22DH | Selects the data type and acquires the details of pallet definition | 5 | 4 |
| 558 | 22EH | Acquires the point number set to the specified pallet | 2 | 3 |
| Approach check area setting (Box) | 600 | 258H | Specifies the lower and upper positions to define the approach check area | 7 | 3 |
| 601 | 259H | Sets the lower limit position | 5 | 3 |
| 602 | 25AH | Sets the upper limit position | 5 | 3 |
| 603 | 25BH | Specifies the lower and upper limit positions and acquires the setting values of the approach check area | 3 | 7 |
| 604 | 25CH | Specifies the lower limit position and acquires the setting value of the approach check area | 3 | 5 |
| 605 | 25DH | Specifies the upper limit position and acquires the setting value of the approach check area | 3 | 5 |
| Approach check plane setting (Plane) | 650 | 28AH | Set the approach check plane | 5 | 3 |
| 651 | 28BH | Acquires the setting value of the approach check plane | 3 | 5 |
| Local coordinate definition (Local) | 700 | 2BCH | Sets the definition of Local coordinate system | 5 | 3 |
| 701 | 2BDH | Acquires the definition of Local coordinate system | 3 | 5 |
| Allowable motion area setting (XYLim) | 750 | 2EEH | Set the allowable motion area by specifying the lower and upper limit positions | 6 | 3 |
| 751 | 2EFH | Sets the lower limit position | 4 | 3 |
| 752 | 2F0H | Sets the upper limit position | 4 | 3 |
| 753 | 2F1H | Acquires the setting value of the allowable motion area by specifying the lower and upper limit positions | 2 | 6 |
| 754 | 2F2H | Acquires the setting value of the allowable motion area by specifying the lower limit position | 2 | 4 |
| 755 | 2F3H | Acquires the setting value of the allowable motion area by specifying the upper limit position | 2 | 4 |
| Pulse value setting for the allowable motion area of the specified joint (Jrange) | 800 | 320H | Sets the allowable motion area pulse value by specifying the upper and lower limit pulses | 6 | 3 |
| 801 | 321H | Sets the lower limit pulse value | 4 | 3 |
| 802 | 322H | Sets the upper limit pulse value | 4 | 3 |
| 803 | 323H | Acquires the allowable motion area pulse setting value by specifying the lower and upper limit pulses | 2 | 6 |
| 804 | 324H | Acquires the allowable motion area pulse setting value by specifying the lower limit pulse | 2 | 4 |
| 805 | 325H | Acquires the allowable motion area pulse setting value by specifying the upper limit pulse | 2 | 4 |
| Base coordinate definition (Base) | 850 | 352H | Defines the Base coordinate system | 4 | 3 |
| 851 | 353H | Acquires the Base coordinate definition | 2 | 4 |
| Local number setting | 900 | 384H | Sets the Local coordinate number | 2 | 3 |
| 901 | 385H | Acquires the setting status of the Local coordinate system number | 1 | 3 |
| Sense condition setting (Sense) | 950 | 3B6H | Sets the condition for using Sense with command 2002 and 2003 | 3 | 3 |
| 951 | 3B7H | Acquires the condition for using Sense with command 2002 and 2003 | 1 | 4 |
| 952 | 3B8H | Acquires the status of condition satisfaction | 1 | 3 |
| Find condition setting (Find) | 1000 | 3E8H | Sets the condition for using Find with command 2001, 2002, and 2003 | 3 | 3 |
| 1001 | 3E9H | Acquires the condition for using Find with command 2001, 2002, and 2003 | 1 | 4 |
| 1002 | 3EAH | Acquires the status of condition satisfaction | 1 | 2 |
| Till condition setting (Till) | 1050 | 41AH | Sets the condition for using Till with motion commands | 3 | 3 |
| 1051 | 41BH | Acquires the condition for using Till with motion commands | 1 | 4 |
| 1052 | 41CH | Acquires the status of condition satisfaction | 1 | 3 |
| CP control (CP) | 1100 | 44CH | Control the CP | 2 | 3 |
| 1101 | 44DH | Acquires the CP control state | 1 | 3 |
| Power control (Power) | 1150 | 47EH | Controls the Power | 2 | 3 |
| 1151 | 47FH | Acquires the Power control state | 1 | 3 |
| Point editing | 1200 | 4B0H | Sets the current manipulator position to the specified point | 2 | 3 |
| 1201 | 4B1H | Adjusts two coordinates to the specified point | 7 | 3 |
| 1202 | 4B2H | Adjusts the specified coordinate to the specified point | 5 | 3 |
| 1203 | 4B3H | Sets two coordinates to the specified point | 7 | 3 |
| 1204 | 4B4H | Sets the specified coordinate to the specified point | 5 | 3 |
| 1205 | 4B5H | Adjusts the coordinate to the specified point | 3 | 3 |
| 1206 | 4B6H | Sets the hand orientation of the specified point to Righty | 2 | 3 |
| 1207 | 4B7H | Sets the hand orientation of the specified point to Lefty | 2 | 3 |
| 1208 | 4B8H | Sets the elbow orientation of the specified point to ABOVE | 2 | 3 |
| 1209 | 4B9H | Sets the elbow orientation of the specified point to BELOW | 2 | 3 |
| 1210 | 4BAH | Sets the wrist orientation of the specified point to FLIP | 2 | 3 |
| 1211 | 4BBH | Sets the wrist orientation of the specified point to NOFLIP | 2 | 3 |
| 1212 | 4BCH | Sets the j4flag value of the specified point | 3 | 3 |
| 1213 | 4BDH | Sets the j6flag value of the specified point | 3 | 3 |
| 1214 | 4BEH | Sets the Local number to the specified point | 3 | 3 |
| 1215 | 4BFH | Acquires the hand orientation of the specified point | 2 | 3 |
| 1216 | 4C0H | Acquires the elbow orientation of the specified point | 2 | 3 |
| 1217 | 4C1H | Acquires the wrist orientation of the specified point | 2 | 3 |
| 1218 | 4C2H | Acquires the j4flag value of the specified point | 2 | 3 |
| 1219 | 4C3H | Acquires the j6flag value of the specified point | 2 | 3 |
| 1220 | 4C4H | Acquires the Local number of the specified point | 2 | 3 |
| 1221 | 4C5H | Sets the coordinate recorded by Find to the specified point | 2 | 3 |
| 1222 | 4C6H | Acquires the coordinate of the specified point | 3 | 3 |
| 1223 | 4C7H | Sets the J1flag | 3 | 3 |
| 1224 | 4C8H | Acquires the status of J1flag | 2 | 3 |
| 1225 | 4C9H | Sets the J2flag | 3 | 3 |
| 1226 | 4CAH | Acquires the status of J2flag | 2 | 3 |
| 1227 | 4CBH | Sets the J1angle attribute of the point | 5 | 3 |
| 1228 | 4CCH | Acquire the J1angle attribute of the point | 2 | 3 |
| Initial Joint #3 height (Z coordinate value) in Jump command (Limz) | 1250 | 4E2H | Sets the initial Joint #3 height (Z coordinate value) in Jump command | 3 | 3 |
| 1251 | 4E3H | Acquires the initial Joint #3 height (Z coordinate value) in Jump command | 1 | 3 |
| Parallel processing | 1300 | 514H | Registers the parallel processing list to be used in motion command execution | 5 | 3 |
| 1301 | 515H | Acquires the setting state of the parallel processing list used in motion command execution | 3 | 5 |
| 1302 | 516H | Initializes the specified list | 2 | 3 |
| 1303 | 517H | Sets the parallel processing list to be used in the motion commands | 2 | 3 |
| 1304 | 518H | Acquires the selective condition of the parallel processing list to be used in the motion commands | 1 | 3 |
| Singularity avoidance | 1350 | 546H | Specifies whether to use LJM automatically in order to avoid singularity (AutoLJM) | 2 | 3 |
| 1352 | 548H | Sets the singularity avoiding function | 2 | 3 |
| Motor control | 1400 | 578H | Controls ON/OFF of the motor. | 2 | 3 |
| 1401 | 579H | Acquires the status of the motor. | 1 | 3 |
| Reset | 1450 | 5AAH | Resets the controller to an initial status. | 1 | 3 |