Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 272)

7.1 Switchable Motion Commands and Subcommands
7.1.1 Switching Between Motion Commands
7-2
7.1 Switchable Motion Commands and Subcommands
7.1.1 Switching Between Motion Commands
The following table shows motion commands that can be switched during execution when using the MP2000-series
Machine Controller.
Switching the command INTERPOLATE, ENDOF_INTERPOLATE, LATCH, or PHASE to ACC, DCC, SCC, or
CHG_FILTER before the pulse distribution is completed will cause a Command Error.
C
ode
Switched
From
(Command in
Execution)
Switched To (Newly Set Command)
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
NOP POS EX_P ZRET INTE ENDO LATC FEED STEP ZSET ACC DCC SCC CHG KVS KPS
0 NOP
－
1 POSING × － × × × × × × × ×
2 EX_POSING × Δ － × × × × Δ × × × × Δ Δ
3 ZRET × × × － × × × × × × × × × × × ×
4
INTERPO-
LATE
－
5
ENDOF_INT
ERPOLATE
－
6 LATCH －
7 FEED × Δ Δ × × × － × × × × × × ×
8 STEP × × × × － × × × ×
9 ZSET －
10 ACC －
11 DCC －
12 SCC －
13
CHG_FILTE
R
－
14 KVS －
15 KPS －
16 KFS
17 PRM_RD
18 PRM_WR
19 ALM_MON
20 ALM_HIST
21
ALMHIST_
CLR
22 ABS_RST
23 VELO
× × × × × × × × × × × ×
24 TRQ × × × × × × × × × × × ×
25 PHASE
26 KIS
27 PPRM_WR
29 SV_ON
30 SV_OFF
31 ALM_CLR
39
MLTTRN_
SET