YASKAWA MP2000 Series - Switchable Motion Commands and Subcommands; Switching between Motion Commands

7.1 Switchable Motion Commands and Subcommands
7.1.1 Switching Between Motion Commands
7-2
7.1 Switchable Motion Commands and Subcommands
7.1.1 Switching Between Motion Commands
The following table shows motion commands that can be switched during execution when using the MP2000-series
Machine Controller.
 Switching the command INTERPOLATE, ENDOF_INTERPOLATE, LATCH, or PHASE to ACC, DCC, SCC, or
CHG_FILTER before the pulse distribution is completed will cause a Command Error.
Code
Switched
From
(Command in
Execution)
Switched To (Newly Set Command)
012 3456789101112131415
NOP POS EX_P ZRET INTE ENDO LATC FEED STEP ZSET ACC DCC SCC CHG KVS KPS
0NOP
－
   
1POSING ×
－
××× ×  ××××
2 EX_POSING ×Δ
－
 ××× × Δ××××ΔΔ
3ZRET ×× ×
－
× × × × × ×××××××
4
INTERPO-
LATE
  
－

5
ENDOF_IN-
TERPO-
LATE
   
－

6LATCH 
－
   
7FEED ×Δ Δ  ×××
－
×  ××××××
8STEP ×   ×××
－
 ××××
9ZSET  
－

10 ACC 
－

11 DCC 
－

12 SCC          
－

13
CHG_FIL-
TER
 
－

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 TR
Q ×  ×××× ×××××××
25 PHASE    
26 KIS          
27 PPRM_WR          
29 SV_ON          
30 SV_OFF          
31 ALM_CLR          
39
MLTTRN_
SET
         