YASKAWA SVC User Manual page 147

4.1 Commands
4.1.1 Motion Commands
Com-
mand
Code
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28 to 33 −
34
35
36
4-4
Command Name
Change Filter
SCC
Time Constant
Change Filter
CHG_FILTER
Type
Change Speed
KVS
Loop Gain
Change Posi-
KPS
tion Loop Gain
Change Feed-
KFS
forward
Read SERVO-
PACK Parameter
PRM_RD
(Read user con-
stant)
Write SERVO-
PACK Parameter
PRM_WR
(Write user con-
stant)
Motion Alarms
ALM_MON
(Alarm monitor)
Monitor Alarm
ALM_HIST History (Alarm
history monitor)
ALMHIST_- Clear Alarm His-
CLR tory
Reset Absolute
ABS_RST
Encoder
Issue Speed
Reference
VELO
(Speed refer-
ence)
Issue Torque/
Force Refer-
TRQ
ence (Torque/
Thrust reference)
Issue Phase Ref-
PHASE erence (Phase
reference)
Change Posi-
tion Loop Inte-
KIS
gral Time
Constant
Write Non-vola-
tile Parameter
PPRM_WR
(Stored parame-
ter write)
Reserved.
Jog with Exter-
nal Positioning
EX_FEED (Jog mode with
external posi-
tioning)
MEM_RD Read Memory
MEM_WR Write Memory
Introduction
Changes the acceleration/
deceleration filter time con-
stant.
Changes the acceleration/
deceleration filter type.
Changes the speed loop gain.
Changes the position loop
gain.
Changes the feedforward con-
trol gain.
Reads a SERVOPACK param-
eter.
Writes a SERVOPACK parame-
ter.
Monitors SERVOPACK alarms.
Monitors the SERVOPACK
alarm history.
Clears the SERVOPACK alarm
history data.
Resets the absolute encoder.
Performs operation in Speed
Control Mode.
Performs operation in Torque
Control Mode.
Performs operation in Phase
Control Mode.
Changes the position loop
integral time constant.
Changes a SERVOPACK
parameter in non-volatile
memory.
−
Moves the axis by the external
positioning travel distance from
the current position when an
external positioning signal is
input during jogging.
Reads data from the SERVO-
PACK memory.
Writes data to the SERVO-
PACK memory.
Continued from previous page.
SVC SVR Refer-
Function Function ence
Modules Modules Page
page
 
4-66
page
 
4-68
page

–
4-70
page

–
4-72
page

–
4-74
page

–
4-76
page

–
4-78
page

–
4-80
page

–
4-82
page

–
4-84
page

–
4-86
page
 
4-89
page
 
4-94
page
 
4-99
page

–
4-103
page

–
4-105
− − −
page

–
4-107
page

–
4-113
page

–
4-115
Continued on next page.