Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 164)

6.1 Motion Commands
6.1.1 Motion Command Table
6-3
Motion Commands
6.1 Motion Commands
6.1.1 Motion Command Table
This table shows the motion commands that are supported by the MP2000 series Machine Controllers. Refer to the sec-
tion numbers indicated in the Reference column for additional command information.
* These commands are move commands.
Commands in the table displaying an are supported by the Virtual Motion Module (SVR).
Refer to 1.3 SVR Virtual Motion Module for details on the Virtual Motion Module (SVR).
Command
Code
Command Name Description Reference
0 NOP No command − −
1 POSING * Position Mode (Positioning)
Positions to the specified position using the specified
acceleration/deceleration times and the specified speed.
6.2.1
2 EX_POSING *
Latch Target Positioning
(External positioning)
Positions by moving the external positioning travel dis-
tance from the point an external positioning signal was
input when already performing a positioning operation.
6.2.2
3 ZRET * Zero Point Return
Returns to the zero point in the machine coordinate sys-
tem. When using an incremental encoder, there are 13 dif-
ferent zero point return methods that can be used.
6.2.3
4 INTERPOLATE * Interpolation
Performs interpolation feeding using positioning data dis-
tributed consecutively from the CPU Module.
6.2.4
5 −
ENDOF_
INTERPOLATE
*
Reserved − −
6 LATCH *
Interpolation Mode with Latch
Input Memorizes the current position when the latch signal is
input during an interpolation feed operation.
6.2.5
7 FEED * JOG Mode
Moves the axis at the specified speed in the specified
direction until the command is canceled.
6.2.6
8 STEP *
Relative Position Mode (Step
up mode) Positions the specified travel distance in the specified
direction at the specified speed.
6.2.7
9 ZSET Set Zero Point
Sets the zero point in the machine coordinate system and
enables the software limit function.
6.2.8
10 ACC Change Acceleration Time
Changes the acceleration time for linear acceleration/
deceleration.
6.2.9
11 DCC Change Deceleration Time
Changes the deceleration time for linear acceleration/
deceleration.
6.2.10
12 SCC Change Filter Time Constant
Changes the time constant for a moving average filter for
acceleration/deceleration.
6.2.11
13 CHG_FILTER Change Filter Type Changes the acceleration/deceleration filter type. 6.2.12
14 KVS Change Speed Loop Gain Changes the speed loop gain. 6.2.13
15 KPS Change Position Loop Gain Changes the position loop gain. 6.2.14
16 KFS Change Feed Forward Changes the feed forward control gain. 6.2.15
17 PRM_RD Read User Constant Reads a SERVOPACK parameter. 6.2.16
18 PRM_WR Write User Constant Write a SERVOPACK parameter. 6.2.17
19 ALM_MON Alarm Monitor Monitors SERVOPACK alarms. 6.2.18
20 ALM_HIST Alarm History Monitor Monitors SERVOPACK alarm history. 6.2.19
21 ALMHIST_CLR Clear Alarm History Clears SERVOPACK alarm history data. 6.2.20
22 ABS_RST Absolute Encoder Reset Initializes an absolute encoder. 6.2.21
23 VELO * Speed Reference Operates with speed control mode. 6.2.22
24 TRQ * Torque/Thrust Reference Operates with torque control mode. 6.2.23
25 PHASE * Phase Reference Operates with phase control mode. 6.2.24
26 − KIS
Change Position Loop Inte-
gral Time Constant Changes the integration time constant for the position
loop.
6.2.25
27 − PPRM_WR Stored Parameter Write
Change a SERVOPACK parameter in the nonvolatile
memory.
6.2.26
39 – MLTTRN_SET Multiturn Limit Setting Sets the multiturn limit. 6.2.27
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