YASKAWA MP2000 Series - Setting a Subcommand During Command Execution

7.1 Switchable Motion Commands and Subcommands
7.1.2 Setting a Subcommand During Command Execution
7-4
7.1.2 Setting a Subcommand During Command Execution
The following table shows motion subcommands that can be executed while a motion command is being executed.
 : Possible
× : Not possible
Code
Motion Command in
Execution
Subcommand
01 2 4 5
NOP PRM_RD PRM_WR SMON FIXPRM_RD
0NOP    
1POSING    
2 EX_POSING  ××
3ZRET  ××
4 INTERPOLATE    
5ENDOF_INTERPOLATE   
6LATCH    
7FEED    
8STEP    
9ZSET    
10 ACC  ××
11 DCC  ××
12 SCC  ××
13 CHG_FILTER    
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 TRQ    
25 PHASE    
26 KIS  ××
27 PPRM_WR  ××
39 MLTTRN_SET  ××