2 motion commands supported by servopack models, 2 moti, 2 motion commands supported by servopack models -3 – Yaskawa MP2200 Machine Controller User Manual
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5.1 Motion Commands
5-3
5.1.2 Motion Commands Supported by SERVOPACK Models
The following table shows the motion commands supported by each model of SERVOPACK.
A Motion Command Setting Error warning will occur if an unsupported command is specified.
*
Σ-II, -III Analog SERVOPACKs:
SGD-S，SGDB-，SGDM，SGDH，SGDS-01/02
(Note)1. M-I: MECHATROLINK-I
M-II: MECHATROLINK-II
2. A: Can be specified.
B: Can be specified in 32-byte mode only.
C: Cannot be specified.
Motion Command
SERVOPACK
SGD-N,
SGDB-AN
SGD-E
+NS100
SGDH-E
+NS115
SGDS-
1
Σ-II, -III
Analog
SERVOP
ACKs *
M-I
M-II
M-I
M-II
Main Command
(OW08)
NOP
A
A
A
A
A
A
A
POSING
A
A
A
A
A
A
A
EX_POSING
A
A
A
A
A
A
A
ZRET
A
A
A
A
A
A
A
INTERPOLATE
A
A
A
A
A
A
A
ENDOF_INTERPOLATE
A
A
A
A
A
A
C
LATCH
A
A
A
A
A
A
C
FEED
A
A
A
A
A
A
C
STEP
A
A
A
A
A
A
C
ZSET
A
A
A
A
A
A
C
ACC
A
A
A
A
A
A
C
DCC
C
A
A
A
A
A
C
SCC
A
A
A
A
A
A
C
CHG_FILTER
A
A
A
A
A
A
C
KVS
A
A
A
A
A
A
C
KPS
A
A
A
A
A
A
C
KFS
A
A
A
A
A
A
C
PRM_RD
A
A
A
A
A
A
C
PRM_WR
A
A
A
A
A
A
C
ALM_MON
A
A
A
A
A
A
C
ALM_HIST
A
A
A
A
A
A
C
ALMHIST_CLR
A
A
A
A
A
A
C
ABS_RST
C
A
A
A
A
A
C
VELO
C
C
C
A
C
A
A
TRQ
C
C
C
A
C
A
A
PHASE
C
A
A
A
A
A
A
KIS
C
A
A
A
A
A
C
Subcommand
(OW0A)
NOP
A
A
A
A
A
A
C
PRM_RD
C
C
C
B
C
B
C
PRM_WR
C
C
C
B
C
B
C
SMON
C
C
C
B
C
B
C
FIXPRM_RD
A
A
A
A
A
A
C