Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 274)

7.1 Switchable Motion Commands and Subcommands
7.1.2 Setting a Subcommand During Command Execution
7-4
7.1.2 Setting a Subcommand During Command Execution
The following table shows motion subcommands that can be executed while a motion command is being executed.
: Possible
×
: Not possible
Code
Motion Command in
Execution
Subcommand
0 1 2 4 5
NOP PRM_RD PRM_WR SMON FIXPRM_RD
0 NOP
1 POSING
2 EX_POSING × ×
3 ZRET × ×
4 INTERPOLATE
5 ENDOF_INTERPOLATE
6 LATCH
7 FEED
8 STEP
9 ZSET
10 ACC × ×
11 DCC × ×
12 SCC × ×
13 CHG_FILTER
14 KVS × ×
15 KPS × ×
16 KFS × ×
17 PRM_RD × ×
18 PRM_WR × ×
19 ALM_MON × ×
20 ALM_HIST × ×
21 ALMHIST_CLR × ×
22 ABS_RST × ×
23 VELO
24 TRQ
25 PHASE
26 KIS × ×
27 PPRM_WR × ×
39 MLTTRN_SET × ×