YASKAWA SVC User Manual page 96

Motion Commands
 Motion Commands
Set the motion command.
Register
Address
OW08 Motion Commands
0: NOP (No Operation)
1: POSING (Positioning)
2: EX_POSING (External Positioning)
3: ZRET (Zero Point Return)
4: INTERPOLATE (Interpolation)
5: − (Reserved)
6: LATCH (Interpolate with Latch Input)
7: FEED (Jog)
SVC
8: STEP (STEP Operation)
9: ZSET (Set Zero Point)
10: ACC (Change Acceleration Time)
11: DCC (Change Deceleration Time)
12: SCC (Change Filter Time Constant)
13: CHG_FILTER (Change Filter Type)
14: KVS (Change Speed Loop Gain)
15: KPS (Change Position Loop Gain)
16: KFS (Change Feedforward)
17: PRM_RD (Read SERVOPACK Parameter)
18: PRM_WR (Write SERVOPACK Parameter)
19: ALM_MON (Monitor Alarms)
20: ALM_HIST (Monitor Alarm History)
21: ALMHIST_CLR (Clear Alarm History)
22: ABS_RST (Reset Absolute Encoder)
23: VELO (Issue Speed Reference)
24: TRQ (Issue Torque/Force Reference)
25: PHASE (Issue Phase Reference)
26: KIS (Change Position Loop Integral Time Constant)
27: PPRM_WR (Write Non-volatile Parameter)
28 to 33: − (Reserved)
34: EX_FEED (Jog with External Positioning)
35: MEM_RD (Read Memory)
36: MEM_WR (Write Memory)
37: PMEM_RD (Read Non-volatile Memory)
38: PMEM_WR (Write Non-volatile Memory)
39: MLTTRN_SET (Multiturn Limit Setting)
Refer to the following chapter for details on these commands.
Chapter 4 Motion Control Program Commands and Instructions
Setting
Name
Range
0 to 39
SVC SVR
SVC SVR
SVC
SVC SVR
SVC SVR
SVC
SVR
SVC SVR
SVC SVR
SVC
SVC
SVC
SVC
SVC
SVC
SVC
SVC
SVC
SVC
SVC
SVC SVR
SVC
SVC
SVC
SVC
SVC
3.4 Motion Parameter Details
3.4.2 Setting Parameter Details
Setting Unit Default
−
SVR
SVR
SVC
SVC
SVR
SVR
SVC
SVC
SVC
SVC
SVC
Control mode
Phase
Position
0
Speed Torque
3-43