Commands; Motion Commands - YASKAWA SVC User Manual

4.1

Commands

4.1.1

Motion Commands

Motion commands are used to perform motion control for machine operation. They are used to
write motion control programs as ladder programs.
A distinct command code is assigned to each motion command. Machine operation is started
by setting the OW
be used. This section describes motion commands.
The following table lists the motion commands.
Refer to the reference pages for details on these commands.
Com-
mand Command
Code
0 NOP
1 POSING
2 EX_POSING
3 ZRET
4 INTERPOLATE Interpolation
−
5
6 LATCH
7 FEED
8 STEP
9 ZSET
10 ACC
11 DCC

08 setting parameter to the command code of the motion command to
Name
Nothing is executed. If you
change to this command
No Operation
during execution of another
(No command)
command, the current com-
mand process is canceled.
Performs positioning to the
specified position at the speci-
Positioning
fied acceleration/deceleration
time constant and velocity.
Moves the axis by the external
positioning travel distance from
External Posi-
the current position when an
tioning
external positioning signal is
input during positioning.
Returns to the origin in the
machine coordinate system.
Zero Point When an incremental encoder
Return is used, there are 13 different
methods that you can use for
the origin return operation.
Performs interpolation feeding
using positioning data that is
distributed from the CPU.
−
Reserved.
Latch
Stores the current position
(Interpolation
when a latch signal is input
mode with latch
during interpolation feeding.
input)
Moves the axis at the specified
Jog (Jog mode) speed in the specified direction
until the command is canceled.
Performs positioning in the
STEP Operation
specified direction at the spec-
(Relative posi-
ified speed for the specified
tion mode)
travel distance.
Sets the origin in machine
Set Zero Point coordinates and enables the
software limits.
Changes the acceleration time
Change Acceler-
for linear acceleration and
ation Time
deceleration.
Changes the deceleration time
Change Deceler-
for linear acceleration and
ation Time
deceleration.
SVC
Introduction Function
Modules
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4.1 Commands

4.1.1 Motion Commands

SVR Refer-
Function ence
Modules Page
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4-7
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4-13
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4-20
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4-42
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4-46
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4-50
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4-55
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4-60
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4-62
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4-64
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