Yaskawa MP2200 Machine Controller - Manual (Page 433)

8.3 Motion Commands
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8.3 Motion Commands
The SVR reads and writes motion parameters and executes commands at the beginning of
the high-speed scan.
8.3.1 Motion Commands List
The following table lists the motion commands that can be used with the SVR.
Command
Code
Command Name Overview
0 NOP No command −
1 POSING Positioning
Positions to the specified position using the specified
acceleration/deceleration times and the specified speed.
2 EX_POSING External Positioning Performs the same operation as the POSING command.
3 ZRET Zero Point Return Returns to the zero point in the machine coordinate system.
4 INTERPOLATE Interpolation
Performs interpolation feeding using positioning data
distributed consecutively from the Basic Module.
5 − Reserved by system. −
6 LATCH Latch
Performs the same operation as the INTERPOLATE
command.
7 FEED JOG Operation
Moves the axis at the specified speed in the specified
direction until the command is cancelled.
8 STEP STEP Operation
Positions the specified travel distance in the specified
direction at the specified speed.
9 ZSET Zero Point Setting Sets the zero point in the machine coordinate system.
23 VELO Speed Reference The SVR does not support a speed control function.
24 TRQ Torque Reference The SVR does not support a torque control function.
25 PHASE Phase References
Performs the same operation as the JOG operation. An
acceleration/deceleration function, however, is not
supported.