YASKAWA JEPMC-MP2300-Y Series User Manual page 359

This chapter explains each motion command's operation, related parameters, and
timing charts.
7.1 Motion Commands .................................................................. 7-3
7.1.1 Motion Command Table ......................................................................... 7-3
7.1.2 Motion Commands Supported by SERVOPACK Models ...................... 7-4
7.2 Motion Command Details ........................................................ 7-5
7.2.1 Positioning (POSING) ............................................................................ 7-5
7.2.2 External Positioning (EX_POSING) ..................................................... 7-11
7.2.3 Zero Point Return (ZRET) .................................................................... 7-16
7.2.4 Interpolation (INTERPOLATE) ............................................................. 7-36
7.2.5 Latch (LATCH) ..................................................................................... 7-40
7.2.6 JOG Operation (FEED) ....................................................................... 7-44
7.2.7 STEP Operation (STEP) ...................................................................... 7-48
7.2.8 Zero Point Setting (ZSET) ................................................................... 7-52
7.2.9 Change Linear Acceleration Time Constant (ACC) ............................. 7-54
7.2.10 Change Linear Deceleration Time Constant (DCC) ........................... 7-56
7.2.11 Change Filter Time Constant (SCC) .................................................. 7-58
7.2.12 Change Filter Type (CHG_FILTER) ................................................... 7-60
7.2.13 Change Speed Loop Gain (KVS) ....................................................... 7-62
7.2.14 Change Position Loop Gain (KPS) .................................................... 7-64
7.2.15 Change Feed Forward (KFS) ............................................................ 7-66
7.2.16 Read SERVOPACK Parameter (PRM_RD) ....................................... 7-68
7.2.17 Write SERVOPACK Parameter (PRM_WR) ...................................... 7-70
7.2.18 Monitor SERVOPACK Alarms (ALM_MON) ...................................... 7-72
7.2.19 Monitor SERVOPACK Alarm History (ALM_HIST) ............................ 7-73
7.2.20 Clear SERVOPACK Alarm History (ALMHIST_CLR) ........................ 7-75
7.2.21 Reset Absolute Encoder (ABS_RST) ................................................ 7-77
7.2.22 Speed Reference (VELO) .................................................................. 7-80
7.2.23 Torque Reference (TRQ) ................................................................... 7-84
7.2.24 Phase References (PHASE) ............................................................. 7-89
7.2.25 Change Position Loop Integration Time Constant (KIS) .................... 7-93
7.3 Motion Subcommands ........................................................... 7-95
7.3.1 Motion Sub-command Table ................................................................ 7-95
7.3.2 Motion Subcommand Settings ............................................................. 7-95
Motion Commands
7
7-1