Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 273)

7.1 Switchable Motion Commands and Subcommands
7.1.1 Switching Between Motion Commands
7-3
Switching Commands during Execution
: Possible
Δ : Possible in Absolute Mode. In Incremental Addition mode, the axis will stop when the command is switched.
×
: The command will be aborted. The axis will be decelerated to a stop.
: A newly set command will be ignored and the processing for the command in execution will continue.
Cod
e
Switched
From
(Command in
Execution)
Switched To (Newly Set Command)
16 17 18 19 20 21 22 23 24 25 26 29 30 31
KFS PRM_ PRM_ ALM_ ALM_ ALMH ABS_ VELO TRQ PHAS KIS SV_ON SV_OF ALM
0 NOP
1 POSING × × －
2 EX_POSING Δ Δ Δ Δ Δ Δ × × × × Δ × －
3 ZRET × × × × × × × × × × × × －
4
INTERPO-
LATE
－
5
ENDOF_INT
ERPOLATE
－
6 LATCH －
7 FEED × × × × × × × × × －
8 STEP × × －
9 ZSET ×
10 ACC ×
11 DCC ×
12 SCC ×
13
CHG_
FILTER
×
14 KVS ×
15 KPS ×
16 KFS － ×
17
PRM_
RD
－ ×
18
PRM_
WR
－ ×
19
ALM_
MON
－ ×
20
ALM_
HIST
－ ×
21
ALMHIST_C
LR
－ ×
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_S
ET
×