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