YASKAWA JEPMC-MP2300-Y Series

A
Switching Motion Commands and Subcommands
A-4
A.2 Motion Subcommand Execution Table
The following table shows which subcommands can be executed during execution of a motion
command for the MP2300.
9
: Execution possible.
−
: Execution not possible.
Code
Motion Command Being
Executed
Set Subcommand
01 2 4 5
NOP PRM_RD PRM_WR SMON FIXPRM_RD
0NOP
99 9 9 9
1POSING
99 9 9 9
2 EX_POSING
9
−−
99
3ZRET
9
−−
99
4 INTERPOLATE
99 9 9 9
5 ENDOF_INTERPOLATE
99 9 9 9
6LATCH
99 9 9 9
7FEED
99 9 9 9
8STEP
99 9 9 9
9ZSET
99 9 9 9
10 ACC
9
−−
99
11 DCC
9
−−
99
12 SCC
9
−−
99
13 CHG_FILTER
99 9 9 9
14 KVS
9
−−
99
15 KPS
9
−−
99
16 KFS
9
−−
99
17 PRM_RD
9
−−
99
18 PRM_WR
9
−−
99
19 ALM_MON
9
−−
99
20 ALM_HIST
9
−−
99
21 ALMHIST_CLR
9
−−
99
22 ABS_RST
9
−−
99
23 VELO
99 9 9 9
24 TRQ
99 9 9 9
25 PHASE
99 9 9 9
26 KIS
9
−−
99