Motion Commands Supported By Servopack Models - YASKAWA MP2200 User Manual

5.1.2 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.
Motion Command
NOP
POSING
EX_POSING
ZRET
INTERPOLATE
ENDOF_INTERPOLATE
LATCH
FEED
STEP
ZSET
ACC
DCC
SCC
Main Command
CHG_FILTER
(OW 08)
KVS
KPS
KFS
PRM_RD
PRM_WR
ALM_MON
ALM_HIST
ALMHIST_CLR
ABS_RST
VELO
TRQ
PHASE
KIS
NOP
PRM_RD
Subcommand
PRM_WR
(OW 0A)
SMON
FIXPRM_RD
SGD- N,
SGDB- AN
A
A
A
A
A
A
A
A
A
A
A
C
A
A
A
A
A
A
A
A
A
A
C
C
C
C
C
A
C
C
C
A
* Σ-II, -III Analog SERVOPACKs:
SGD- S，SGDB-
，SGDM，SGDH，SGDS-
(Note)1. M-I: MECHATROLINK-I
M-II: MECHATROLINK-II
2. A: Can be specified.
B: Can be specified in 32-byte mode only.
C: Cannot be specified.
WWW.NNC.IR
SERVOPACK
SGDH- E
SGD- E +NS115
+NS100
M-I M-II
A A A
A A A
A A A
A A A
A A A
A A A
A A A
A A A
A A A
A A A
A A A
A A A
A A A
A A A
A A A
A A A
A A A
A A A
A A A
A A A
A A A
A A A
A A A
C C A
C C A
A A A
A A A
A A A
C C B
C C B
C C B
A A A
5.1 Motion Commands
Σ-II, -III
SGDS-
1 Analog
SERVOP
M-I M-II
ACKs *
A A A
A A A
A A A
A A A
A A A
A A C
A A C
A A C
A A C
A A C
A A C
A A C
A A C
A A C
A A C
A A C
A A C
A A C
A A C
A A C
A A C
A A C
A A C
C A A
C A A
A A A
A A C
A A C
C B C
C B C
C B C
A A C
01 / 02
5-3