YASKAWA JEPMC-MP2300-Y Series User Manual page 576

A Switching Motion Commands and Subcommands
A Switching Motion Commands and Subcommands
A.1 Motion Command Execution Table
Command
0
Code
Being Executed
NOP POS EX_P ZRET INTE ENDO LATC FEED STEP ZSET ACC DCC SCC CHG KVS KPS
−
0 NOP
C
1 POSING
2 EX_POSING C
C
3 ZRET
4 INTERPOLATE A
ENDOF_INTER
A
5
POLATE
6 LATCH A
7 FEED C
8 STEP C
9 ZSET A
D
10 ACC
11 DCC D
D
12 SCC
13 CHG_FILTER A
D
14 KVS
15 KPS D
D
16 KFS
17 PRM_RD D
D
18 PRM_WR
19 ALM_MON D
D
20 ALM_HIST
ALMHIST_
21 D
CLR
D
22 ABS_RST
23 VELO C
24 TRQ C
25 PHASE A
26 KIS D
D
29 SV_ON
30 SV_OFF D
D
31 ALM_CLR
A-2
The following table shows which commands can be executed during execution of another motion
command for the MP2300.
1 2 3 4
A A A A
−
A A C
−
B A C
−
C C C
−
A A A
A A A A
A A A A
B B A C
A A A C
A A A A
D D D D
D D D D
D D D D
A A A A
D D D D
D D D D
D D D D
D D D D
D D D D
D D D D
D D D D
D D D D
D D D D
A A C C
A A C C
A A A A
D D D D
D D D D
D D D D
D D D D
Set Command
5 6 7 8 9
A A A A A
C C A C A
C C A C B
C C C C C
A A A A A
−
A A A A
−
A A A A
−
C C C A
−
C C A A
−
A A A A
D D D D D
D D D D D
D D D D D
A A A A A
D D D D D
D D D D D
D D D D D
D D D D D
D D D D D
D D D D D
D D D D D
D D D D D
D D D D D
C C A A C
C C A A C
A A A A A
D D D D D
D D D D D
D D D D D
D D D D D
10 11 12 13 14
A A A A A
C C C C A
C C C C B
C C C C C
A A A A A
A A A A A
A A A A A
C C C C C
C C C C A
A A A A A
− D D D D
−
D D D D
D D − D D
−
A A A A
D D D D −
D D D D D
D D D D D
D D D D D
D D D D D
D D D D D
D D D D D
D D D D D
D D D D D
C C C C C
C C C C C
A A A A A
D D D D D
D D D D D
D D D D D
D D D D D
15
A
A
B
C
A
A
A
C
A
A
D
D
D
A
D
−
D
D
D
D
D
D
D
C
C
A
D
D
D
D