Motion Command Table; Motion Commands - YASKAWA MP2000 Series User Manual

7.1 Motion Commands

7.1.1 Motion Command Table

7.1 Motion Commands

7.1.1 Motion Command Table

The SVA-01 Module supports the following motion commands provided for the MP2000 series Machine Controllers.
Refer to Reference Page in the Table for details on each motion command.
Command
Code
0
1
2
3
4
6
7
8
9
23
24
25
7-2
Command Name
NOP No command
POSING Positioning
EX_POSING External Positioning
ZRET Zero Point Return
INTERPOLATE Interpolation
LATCH Latch
FEED JOG Operation
STEP STEP Operation
ZSET Zero Point Setting
VELO Speed Reference
TRQ Torque Reference
PHASE Phase Reference
Description
–
Positions to the specified position using the specified
acceleration/deceleration time constants and the specified
speed.
Positions by moving the external positioning travel dis-
tance from the point an external positioning signal was
input when already performing a positioning operation.
Returns to the zero point in the machine coordinate sys-
tem. When using an incremental encoder, there are 17 dif-
ferent zero point return methods that can be used.
Performs interpolation feeding using positioning data dis-
tributed consecutively from the CPU Module.
Memorizes the current position when the latch signal is
input during an interpolation feed operation.
Moves the axis at the specified speed in the specified
direction until the command is canceled.
Positions the specified travel distance in the specified
direction at the specified speed.
Sets the zero point in the machine coordinate system and
enables the software limit function.
Operates with speed control mode.
Operates with torque control mode.
Operates with phase control mode.
Reference
Page
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7-3
7-9
7-15
7-57
7-60
7-63
7-67
7-71
7-73
7-77
7-81