YASKAWA JEPMC-MP2300-Y Series User Manual page 578

A Switching Motion Commands and Subcommands
A.2 Motion Subcommand Execution Table
A-4
The following table shows which subcommands can be executed during execution of a motion
command for the MP2300.
Motion Command Being
Code
Executed
0 NOP
1 POSING
2 EX_POSING
3 ZRET
4 INTERPOLATE
5 ENDOF_INTERPOLATE
6 LATCH
7 FEED
8 STEP
9 ZSET
10 ACC
11 DCC
12 SCC
13 CHG_FILTER
14 KVS
15 KPS
16 KFS
17 PRM_RD
18 PRM_WR
19 ALM_MON
20 ALM_HIST
21 ALMHIST_CLR
22 ABS_RST
23 VELO
24 TRQ
25 PHASE
26 KIS
: Execution possible.
−: Execution not possible.
Set Subcommand
0 1 2
NOP PRM_RD PRM_WR
− −
− −
− −
− −
− −
− −
− −
− −
− −
− −
− −
− −
− −
− −
− −
4 5
SMON FIXPRM_RD