YASKAWA MP2000 Series - Motion Commands Supported by SERVOPACK Models

6.1 Motion Commands
6.1.2 Motion Commands Supported by SERVOPACK Models
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6.1.2 Motion Commands Supported by SERVOPACK Models
The following table shows the motion commands supported by each model of SERVOPACK.
A Motion Command Setting Error warning will occur if an unsupported command is specified.
 M-I: MECHATROLINK-I
M-II: MECHATROLINK-II
: Can be specified. ×: Cannot be specified. Δ: Can be specified only in 32-byte mode.
Motion Command
SERVOPACK
SGD-N
SGDB-AN
SGDH-E
+NS100
SJDE-AN
SGDH-E+NS115
SGDS-1
SGDX-12
SGDV-1
SGD7S-10
M-
I
M-
II
Main Command (OW08)
NOP 
POSING 
EX_POSING 
ZRET 
INTERPOLATE 
ENDOF_INTERPOLATE 
LATCH 
FEED 
STEP 
ZSET 
ACC 
DCC × 
SCC  × 
CHG_FILTER  × 
KVS  × 
KPS  × 
KFS  × 
PRM_RD 
PRM_WR 
ALM_MON 
ALM_HIST 
ALMHIST_CLR 
ABS_RST ×  × 
VELO ××××
TRQ ××××
PHASE ×  × 
KIS ×  × 
MLTTRN_SET
×

×

Subcommand
(OW0A)
NOP 
PRM_RD ××Δ×Δ
PRM_WR ××Δ×Δ
SMON ××Δ×Δ
FIXPRM_RD 