A.1
Motion Command Execution Table
A-3

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.
Code
Command
Being Executed
Set Command
16 17 18 19 20 21 22 23 24 25 26 29 30 31
KFS PRM_ PRM_ ALM_ ALM_ ALMH ABS_ VELO TRQ PHAS KIS SV_ON SV_OF ALM
0NOP
AA A AAAAAAAA A AA
1POSING
AA A A A A C A A AA − AC
2 EX_POSING
BB B BBBCCCCB − AC
3ZRET
CC C CCCCCCCC − AC
4 INTERPOLATE
AA A AAAAAAAA − AC
5
ENDOF_INTE
RPOLATE
AA A AAAAAAAA − AC
6LATCH
AA A AAAAAAAA − AC
7FEED
CC C C C C C AA A×− AC
8STEP
AA A A A A C A A AA − AC
9ZSET
AA A AAAAAAAA C AD
10 ACC
DD D DDDDDDDD C AD
11 DCC
DD D DDDDDDDD C AD
12 SCC
DD D DDDDDDDD C AD
13 CHG_FILTER
AA A AAAAAAAA C AD
14 KVS
DD D DDDDDDDD C AD
15 KPS
DD D DDDDDDDD C AD
16 KFS
− D D DD DDDDDD C AD
17 PRM_RD
D − D DDDDDDDD C AD
18 PRM_WR
DD − DDDDDDDD C AD
19 ALM_MON
DD D − DDDDDDD C AD
20 ALM_HIST
DD D D − DDDDDD C AD
21
ALMHIST_
CLR
DD D D D − DDDDD C AD
22 ABS_RST
DD D D D D − DDDD C DD
23 VELO
CC C C C C C − AAC A AC
24 TRQ
CC C C C C C A − AC A A C
25 PHASE
AA A AAAAAA − A − AC
26 KIS
DD D DDDDDDD−× AD
29 SV_ON
DD D DDDDDDDD − AD
30 SV_OFF
DD D DDDDDDDD C − D
31 ALM_CLR
DD D DDDDDDDD C A −
To Next Page
Loading...
Need help?
General
