Command Table; Motion Commands - YASKAWA MP2100 Series User Manual

8 Motion Commands

8.1.1 Motion Commands

8.1 Command Table

8.1.1 Motion Commands
Command
Code
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
8-2
Command
NOP No command
POSING Positioning
EX_POSING External Positioning
ZRET Zero Point Return
INTERPOLATE Interpolation
Reserved.
LATCH Latch
FEED JOG Operation
STEP STEP Operation
ZSET Zero Point Setting
ACC Change One-step Linear
Acceleration Time Constant
DCC Change One-step Linear
Deceleration Time Constant
SCC Change Filter Time Constant
CHG_FILTER Change Filter Type
KVS Change Speed Loop Gain
KPS Change Position Loop Gain
KFS Change Feed Forward
PRM_RD Read SERVOPACK
Parameter
PRM_WR Write SERVOPACK
Parameter
ALM_MON Monitor SERVOPACK Alarms
ALM_HIST Monitor SERVOPACK Alarm
History
ALMHIST_CLR Clear SERVOPACK Alarm
History
ABS_RST Reset Absolute Encoder
VELO Speed Reference
TRQ Torque Reference
PHASE Phase References
KIS Change Position Loop Inte-
gration Time Constant
Name
Positions to the specified position using the specified
acceleration/deceleration times and the specified speed.
Positions by moving the external positioning travel
distance from the point an external positioning signal
was input when already performing a positioning
operation.
Returns to the zero point in the machine coordinate
system. When using an incremental encoder, there are 13
different zero point return methods that can be used.
Performs interpolation feeding using positioning data
distributed consecutively from the Basic Module.
Memorizes the current position when the latch signal is
input during an interpolation feed operation.
Moves the axis at the specified speed in the specified
direction until the command is cancelled.
Positions the specified travel distance in the specified
direction at the specified speed.
Sets the zero point in the machine coordinate system and
enables the soft limit function.
Changes the acceleration time for linear acceleration/
deceleration.
Changes the deceleration time for linear acceleration/
deceleration.
Changes the time constant for a moving average filter for
acceleration/deceleration.
Changes the acceleration/deceleration filter type.
Changes the speed loop gain.
Changes the position loop gain.
Changes the feed forward control gain.
Reads a SERVOPACK parameter.
Write a SERVOPACK parameter.
Monitors SERVOPACK alarms.
Monitors SERVOPACK alarm history.
Clears SERVOPACK alarm history data.
Resets the absolute encoder.
Operates with speed control mode.
Operates with torque control mode.
Operates with phase control mode.
Changes the integration time constant for the position
loop.
Description