YASKAWA SVC User Manual page 282

Current 17 18
Code
Command
PR PR
M_ M_
 
0 NOP
 
1 POSING
EX_POS-
Δ Δ
2
ING
× ×
3 ZRET
INTERPO-
 
4
LATE
 
6 LATCH
× ×
7 FEED
 
8 STEP
 
9 ZSET
 
10 ACC
 
11 DCC
 
12 SCC
CHG_FIL-
 
13
TER
 
14 KVS
 
15 KPS
 
16 KFS
− 
17 PRM_RD
−

18 PRM_WR
 
19 ALM_MON
 
20 ALM_HIST
ALMHIST_
 
21
CLR
 
22 ABS_RST
× ×
23 VELO
× ×
24 TRQ
 
25 PHASE
 
26 KIS
 
27 PPRM_WR
× ×
34 EX_FEED
 
35 MEM_RD
 
36 MEM_WR
 
37 PMEM_RD
PMEM_W
 
38
R
MLTTRN_
 
39
SET

Note: : Indicates commands that can be changed to.
Δ
: Indicates commands that can be executed only when the absolute value specification method is selected
for the position reference type. If the incremental addition method is selected, the axis stops when the com-
mand is changed.
× : Indicates when the current command is canceled and the axis decelerates to a stop.

: Indicates commands that are ignored. Processing for the current command will continue.
Changing from the INTERPOLATE, LATCH, or PHASE command to the SCC or CHG_FILTER command
before distribution is completed will cause a command error.
4.4.1 Motion Command and Subcommand Execution Judgment Table
New Command
19 20 21 22 23 24
AL AL AL AB VE TR
M_ M_ MH S_ LO Q
     
     
Δ Δ Δ Δ ×
× × × × ×
     
     
× × × ×
 
     
     
     
     
     
     
     
     
     
     
     
−
    
−
    
−
    
−
    
× × × × −

× × × × 
     
     
     
× × × ×
 
     
−
    
     
     
     
4.4 Changing the Command
25 26 27 34 35
PH KI PP EX ME
AS S R _F M_
    
×
   
× × Δ × Δ

× × × × × ×
    
    
× × ×
 
  ×  
    
    
    
    
    
    
    
    
    
    
    
    
    
    
× × ×
 
−  × ×  ×
−
   
 −   
−
   
× × − ×

−
   
    
    
    
    
36 37 38 39
ME PM PM ML
M_ EM EM TT
   
   
Δ Δ Δ Δ
× × × ×
   
   
× × × ×
   
   
   
   
   
   
   
   
   
   
   
   
   
   
   
× × × ×
× × × ×
   
   
   
× × × ×
   
− −
 
−
  
4
−
  
   −
4-139