Motion commands, Chapter 5 motion commands, To chapter 5 motion commands – Yaskawa MP2200 Machine Controller User Manual
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5-1
5
Motion Commands
This chapter explains each motion command’s operation, related parameters, and
timing charts.
5.1 Motion Commands .................................................................. 5-2
5.1.1 Motion Command Table ......................................................................... 5-2
5.1.2 Motion Commands Supported by SERVOPACK Models ...................... 5-3
5.2 Motion Command Details ........................................................ 5-4
5.2.1 Positioning (POSING) ............................................................................ 5-4
5.2.2 External Positioning (EX_POSING) ....................................................... 5-9
5.2.3 Zero Point Return (ZRET) .................................................................... 5-15
5.2.4 Interpolation (INTERPOLATE) ............................................................. 5-56
5.2.5 Latch (LATCH) ..................................................................................... 5-59
5.2.6 JOG Operation (FEED) ....................................................................... 5-64
5.2.7 STEP Operation (STEP) ...................................................................... 5-67
5.2.8 Zero Point Setting (ZSET) ................................................................... 5-72
5.2.9 Change Linear Acceleration Time Constant (ACC) ............................. 5-74
5.2.10 Change Linear Deceleration Time Constant (DCC) ........................... 5-76
5.2.11 Change Filter Time Constant (SCC) .................................................. 5-78
5.2.12 Change Filter Type (CHG_FILTER) ................................................... 5-80
5.2.13 Change Speed Loop Gain (KVS) ....................................................... 5-82
5.2.14 Change Position Loop Gain (KPS) .................................................... 5-84
5.2.15 Change Feed Forward (KFS) ............................................................ 5-86
5.2.16 Read SERVOPACK Parameter (PRM_RD) ....................................... 5-88
5.2.17 Write SERVOPACK Parameter (PRM_WR) ...................................... 5-90
5.2.18 Monitor SERVOPACK Alarms (ALM_MON) ...................................... 5-92
5.2.19 Monitor SERVOPACK Alarm History (ALM_HIST) ............................ 5-94
5.2.20 Clear SERVOPACK Alarm History (ALMHIST_CLR) ........................ 5-96
5.2.21 Reset Absolute Encoder (ABS_RST) ................................................ 5-98
5.2.22 Speed Reference (VELO) ................................................................ 5-100
5.2.23 Torque Reference (TRQ) ................................................................. 5-104
5.2.24 Phase References (PHASE) ........................................................... 5-110
5.2.25 Change Position Loop Integration Time Constant (KIS) .................. 5-114
5.3 Motion Subcommands ......................................................... 5-116
5.3.1 Motion Sub-command Table .............................................................. 5-116
5.3.2 Motion Subcommand Settings ........................................................... 5-116
5.3.3 No Command (NOP) ......................................................................... 5-117
5.3.4 Read SERVOPACK Parameter (PRM_RD) ....................................... 5-118
5.3.5 Write SERVOPACK Parameter (PRM_WR) ...................................... 5-120
5.3.6 Monitor Status (SMON) ...................................................................... 5-122
5.3.7 Read Fixed Parameters (FIXPRM_RD) ............................................. 5-124