Motion Commands; Motion Command Table - YASKAWA MP2100 Series User Manual

11.3 Motion Commands

The SVR reads and writes motion parameters and executes commands at the beginning of the high-speed scan.

11.3.1 Motion Command Table

The following table lists the motion commands that can be used with the SVR.
Command
Command
Code
0 NOP
1 POSING
2 EX_POSING
3 ZRET
4 INTERPOLATE
−
5
6 LATCH
7 FEED
8 STEP
9 ZSET
23 VELO
24 TRQ
25 PHASE
Name
No command
Positioning
External Positioning
Zero Point Return
Interpolation
Reserved by system.
Latch
JOG Operation
STEP Operation
Zero Point Setting
Speed Reference
Torque Reference
Phase Reference
Overview
Positions to the specified position using the specified
acceleration/deceleration times and the specified speed.
Performs the same operation as the POSING command.
Sets the zero point in the machine coordinate system.
Performs interpolation feeding using positioning data
distributed consecutively from the CPU Module.
Performs the same operation as the INTERPOLATE
command.
Moves the axis at the specified speed in the specified
direction until the command is canceled.
Positions the specified travel distance in the specified
direction at the specified speed.
Sets the zero point in the machine coordinate system.
The SVR does not support a speed control function.
The SVR does not support a torque control function.
Performs the same operation as the JOG operation. An
acceleration/deceleration function, however, is not
supported.
11.3 Motion Commands
11
11-17