YASKAWA JEPMC-MP2300-Y Series User Manual page 577

Command
Code 16
Being Executed
KFS PRM_ PRM_ ALM_ ALM_ ALMH ABS_ VELO
0 NOP A
1 POSING A
2 EX_POSING B
3 ZRET C
A
4 INTERPOLATE
ENDOF_INTE
5 A
RPOLATE
A
6 LATCH
7 FEED C
A
8 STEP
9 ZSET A
D
10 ACC
11 DCC D
12 SCC D
13 CHG_FILTER A
14 KVS D
15 KPS D
−
16 KFS
D
17 PRM_RD
18 PRM_WR D
D
19 ALM_MON
20 ALM_HIST D
ALMHIST_
D
21
CLR
22 ABS_RST D
C
23 VELO
24 TRQ C
A
25 PHASE
26 KIS D
D
29 SV_ON
30 SV_OFF D
31 ALM_CLR D
17 18 19 20
A A A A
A A A A
B B B B
C C C C
A A A A
A A A A
A A A A
C C C C
A A 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
C C C C
C C C C
A A A A
D D D D
D D D D
D D D D
D D D D
A: Execution possible.
B: Execution possible if position reference type is set for absolute position reference mode. Axis
will stop at switching point if incremental addition mode is being used.
C: Command aborted (deceleration stop)
D: The new command is ignored and the current command is continued.
Although the table shows that changing to ACC, DCC, SCC, or CHG_FILTER is possible from
INTERPOLATE, ENDOF_INTERPOLATE, LATCH, or PHASE, a command error will occur if pulse
distribution has not been completed.
Set Command
21 22 23 24
TRQ
A A A A
A C A A
B C C C
C C C C
A A A A
A A A A
A A A A
C C A A
A 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
C C − A
−
C C A
A A A A
D D D D
D D D D
D D D D
D D D D
A.1 Motion Command Execution Table
25 26 29 30
PHAS KIS SV_ON SV_OF ALM
A A A A
−
A A A
−
C B A
−
C C A
A A − A
−
A A A
A A − A
× −
A A
−
A A A
A A C A
D D C A
D D C A
D D C A
A A C A
D D C A
D D C A
D D C A
D D C A
D D C A
D D C A
D D C A
D D C A
D D C D
A C A A
A C A A
− −
A A
− ×
D A
−
D D A
−
D D C
D D C A
31
A
C
C
C
C
C
C
C
C
D
D
D
D
D
D
D
D
D
D
D
D
D
D
C
C
C
D
D
D
−
A-3