2 setting a subcommand during command execution – Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module User Manual
Page 274
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7.1 Switchable Motion Commands and Subcommands
7.1.2 Setting a Subcommand During Command Execution
7-4
7.1.2 Setting a Subcommand During Command Execution
The following table shows motion subcommands that can be executed while a motion command is being executed.
: Possible
×
: Not possible
Code
Motion Command in
Execution
Subcommand
0
1
2
4
5
NOP
PRM_RD
PRM_WR
SMON
FIXPRM_RD
0
NOP
1
POSING
2
EX_POSING
×
×
3
ZRET
×
×
4
INTERPOLATE
5
ENDOF_INTERPOLATE
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_CLR
×
×
22
ABS_RST
×
×
23
VELO
24
TRQ
25
PHASE
26
KIS
×
×
27
PPRM_WR
×
×
39
MLTTRN_SET
×
×
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