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8 Motion Commands
8.1.3 Motion Command Support by SERVOPACK Model
8.1.3 Motion Command Support by SERVOPACK Model
The following tables shows the motion commands supported by each model of SERVOPACK. A Motion Com-
mand Setting Error warning will occur if a command that is not supported is specified.
Main Command
(OW
Subcommand
(OW
Note: OK: Supported,
8-4
Motion command
NOP
08)
POSING
EX_POSING
ZRET
INTERPOLATE
ENDOF_INTERP
OLATE
LATCH
FEED
STEP
ZSET
ACC
DCC
SCC
CHG_FILTER
KVS
KPS
KFS
PRM_RD
PRM_WR
ALM_MON
ALM_HIST
ALMHIST_CLR
ABS_RST
VELO
TRQ
PHASE
KIS
NOP
0A)
PRM_RD
PRM_WR
SMON
FIXPRM_RD
−−−
: Not supported
32-byte: Supported only for 32-byte Mode of MECHATROLINK-II.
SGD-
SGD-
N,
E
SGDB-
+ NS100
AN
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
−
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
−
OK
−
−
−
−
−
OK
−
OK
OK
OK
−
−
−
−
−
−
OK
OK
SERVOPACK
SGDH-
E
SGDS-
+NS115
M-I
M-II
M-I
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
−
−
OK
−
−
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
−
−
32-byte
−
−
32-byte
−
−
32-byte
OK
OK
OK
1
M-II
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
32-byte
32-byte
32-byte
OK
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