YASKAWA SVC User Manual page 284

SVR Function Module Motion Command Execution Judg-
ment Table
Current 0 1
Code
Command
NO PO
P S
−

0 NOP
× −
1 POSING
EX_POS-
× Δ
2
ING
× ×
3 ZRET
INTERPO-
 
4
LATE
 
6 LATCH
× Δ
7 FEED
× 
8 STEP
 
9 ZSET
× ×
10 ACC
× ×
11 DCC
× ×
12 SCC
CHG_
 
13
FILTER
×

23 VELO
×

24 TRQ
× Δ
25 PHASE

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.
4.4.1 Motion Command and Subcommand Execution Judgment Table
New Command
2 3 4 6 7
EX_ ZR INT LAT FEE
P ET E C D
    
× ×
  
− × ×
 
× − × × ×
−
   
   − 
Δ × × × −
 × × × 
×
   
× × × × ×
× × × × ×
× × × × ×
×
   
× × ×
 
× × ×
 
Δ × × × ×
4.4 Changing the Command
8 9 10 11 12
STE ZS AC DC SC
P ET C C C
    
× × × ×

× × × ×

× × × × ×
    
    
× × × × ×
− × × × ×
− ×
  
× × − × ×
× × × − ×
× × × × −
× ×
  
× × × ×

× × × ×

× × × × ×
13 23 24 25
CH VEL TR PHA
G O Q S
   
×
  
× Δ Δ Δ
× × × ×
   
   
× × × ×
×   
   
× × × ×
× × × ×
× × × ×
−
  
× − × ×
× × − ×
× × × −
4-141
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