Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 165)

6.1 Motion Commands
6.1.2 Motion Commands Supported by SERVOPACK Models
6-4
6.1.2 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.
M-I: MECHATROLINK-I
M-II: MECHATROLINK-II
: Can be specified. ×: Cannot be specified. Δ: Can be specified only in 32-byte mode.
Motion Command
SERVOPACK
SGD- N
SGDB- AN
SGDH- E
+NS100
SJDE- AN
SGDH- E
+NS115
SGDS-
1
SGDX-
2
M-I M-II M-I M-II M-I M-II
Main Command (
O
W
08)
NOP
POSING
EX_POSING
ZRET
INTERPOLATE
ENDOF_INTERPOL
ATE
LATCH
FEED
STEP
ZSET
ACC
DCC
×
SCC ×
CHG_FILTER ×
KVS ×
KPS ×
KFS ×
PRM_RD
PRM_WR
ALM_MON
ALM_HIST
ALMHIST_CLR
ABS_RST
× ×
VELO × × × × × ×
TRQ × × × × × ×
PHASE × ×
KIS × ×
MLTTRN_SET × ×
Subcommand
(O
W
0A)
NOP
PRM_RD
× × Δ × Δ × Δ × Δ
PRM_WR × × Δ × Δ × Δ × Δ
SMON × × Δ × Δ × Δ × Δ
FIXPRM_RD