Yaskawa MP2200 Machine Controller User Manual
Page 519
Appendix A Switching Motion Commands
A-3
A
（
Note) 1. {:Execution possible.
∆:Execution possible if position reference type is set for absolute position
reference mode.
×:Command aborted (deceleration stop)
z
:The new command is ignored and the current command is continued.
2. Although the table shows that changing to ACC, DCC, SCC, or CHG_FILTER is
possible from INTERPOLATE, ENDOF_INTERPOLATE, LATCH, or PHASE, a
command error will occur if pulse distribution has not been completed.
(cont’d)
Command
Being
Executed
New Command
Co
de
16
17
18
19
20
21
22
23
24
25
26
29
30
31
KFS
PRM_
RD
PRM_
WR
ALM_
MON
ALM_
HIST
ALMH ABS_ VELO TRQ
PHAS KIS
SV_ON SV_OF ALM
0
NOP
{
{
{
{
{
{
{
{
{
{
{
{
{
{
1
POSING
{
{
{
{
{
{
×
{
{
{
{
−
{
×
2
EX_POSING
∆
∆
∆
∆
∆
∆
×
×
×
×
∆
−
∆
×
3
ZRET
×
×
×
×
×
×
×
×
×
×
×
−
{
×
4
INTERPOLA
TE
{
{
{
{
{
{
{
{
{
{
{
−
{
×
5
ENDOF_INT
ERPOLATE
{
{
{
{
{
{
{
{
{
{
{
−
{
×
6
LATCH
{
{
{
{
{
{
{
{
{
{
{
−
{
×
7
FEED
×
×
×
×
×
×
×
{
{
{
×
−
{
×
8
STEP
{
{
{
{
{
{
×
{
{
{
{
−
{
×
9
ZSET
{
{
{
{
{
{
{
{
{
{
{
×
{
z
10
ACC
z
z
z
z
z
z
z
z
z
z
z
×
{
z
11
DCC
z
z
z
z
z
z
z
z
z
z
z
×
{
z
12
SCC
z
z
z
z
z
z
z
z
z
z
z
×
{
z
13
CHG_FILTE
R
{
{
{
{
{
{
{
{
{
{
{
×
{
z
14
KVS
z
z
z
z
z
z
z
z
z
z
z
×
{
z
15
KPS
z
z
z
z
z
z
z
z
z
z
z
×
{
z
16
KFS
−
z
z
z
z
z
z
z
z
z
z
×
{
z
17
PRM_RD
z
−
z
z
z
z
z
z
z
z
z
×
{
z
18
PRM_WR
z
z
−
z
z
z
z
z
z
z
z
×
{
z
19
ALM_MON
z
z
z
−
z
z
z
z
z
z
z
×
{
z
20
ALM_HIST
z
z
z
z
−
z
z
z
z
z
z
×
{
z
21
ALMHIST_
CLR
z
z
z
z
z
−
z
z
z
z
z
×
{
z
22
ABS_RST
z
z
z
z
z
z
−
z
z
z
z
×
{
z
23
VELO
×
×
×
×
×
×
×
−
{
{
×
{
{
×
24
TRQ
×
×
×
×
×
×
×
{
−
{
×
{
{
×
25
PHASE
{
{
{
{
{
{
{
{
{
−
{
−
{
×
26
KIS
z
z
z
z
z
z
z
z
z
z
−
×
{
z
29
SV_ON
z
z
z
z
z
z
z
z
z
z
z
−
{
z
30
SV_OFF
z
z
z
z
z
z
z
z
z
z
z
×
−
z
31
ALM_CLR
z
z
z
z
z
z
z
z
z
z
z
×
{
−