Appendix a.3 – Yaskawa MP2200 Machine Controller User Manual
Page 521
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Appendix A Switching Motion Commands
A-5
A
Appendix A.3 SVA-01 Module Motion Command Execution Table
The following table shows which commands can be executed during execution of another motion
command in an SVA-01 Module.
(Note)
{
: Execution possible.
×: Command aborted (deceleration stop)
Command
Being
Executed
New Command
Code
0
1
2
3
4
5
6
7
8
9
23
24
25
NOP
POS
EX_P ZRET INTE
ENDO LATC
FEED STEP ZSET VELO TRQ
PHAS
0
NOP
−
{
{
{
{
{
{
{
{
{
{
{
{
1
POSING
×
−
{
×
{
{
{
{
{
×
{
{
{
2
EX_POSING
×
{
−
×
{
{
{
{
{
×
{
{
{
3
ZRET
×
×
×
−
×
×
×
×
×
×
×
×
×
4
INTERPOLA
TE
{
{
{
×
−
{
{
{
{
×
{
{
{
5
ENDOF_INT
ERPOLATE
{
{
{
×
{
−
{
{
{
×
{
{
{
6
LATCH
{
{
{
×
{
{
−
{
{
×
{
{
{
7
FEED
×
{
{
×
{
{
{
−
{
×
{
{
{
8
STEP
×
{
{
×
{
{
{
{
−
×
{
{
{
9
ZSET
{
{
{
{
{
{
{
{
{
−
{
{
{
23
VELO
×
{
{
×
×
×
×
{
{
×
−
{
{
24
TRQ
×
{
{
×
×
×
×
{
{
×
{
−
{
25
PHASE
×
{
{
×
×
×
×
{
{
×
{
{
−
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