YASKAWA MP2100 Series User Manual

8 Motion Commands
8.1.1 Motion Commands
8-2
8.1 Command Table
8.1.1 Motion Commands
Command
Code
Command Name Description
0 NOP No command
1 POSING Positioning Positions to the specified position using the specified
acceleration/deceleration times and the specified speed.
2 EX_POSING External Positioning Positions by moving the external positioning travel
distance from the point an external positioning signal
was input when already performing a positioning
operation.
3 ZRET Zero Point Return Returns to the zero point in the machine coordinate
system. When using an incremental encoder, there are 13
different zero point return methods that can be used.
4 INTERPOLATE Interpolation Performs interpolation feeding using positioning data
distributed consecutively from the Basic Module.
5 Reserved.
6LATCH Latch Memorizes the current position when the latch signal is
input during an interpolation feed operation.
7 FEED JOG Operation Moves the axis at the specified speed in the specified
direction until the command is cancelled.
8 STEP STEP Operation Positions the specified travel distance in the specified
direction at the specified speed.
9 ZSET Zero Point Setting Sets the zero point in the machine coordinate system and
enables the soft limit function.
10 ACC Change One-step Linear
Acceleration Time Constant
Changes the acceleration time for linear acceleration/
deceleration.
11 DCC Change One-step Linear
Deceleration Time Constant
Changes the deceleration time for linear acceleration/
deceleration.
12 SCC Change Filter Time Constant Changes the time constant for a moving average filter for
acceleration/deceleration.
13 CHG_FILTER Change Filter Type Changes the acceleration/deceleration filter type.
14 KVS Change Speed Loop Gain Changes the speed loop gain.
15 KPS Change Position Loop Gain Changes the position loop gain.
16 KFS Change Feed Forward Changes the feed forward control gain.
17 PRM_RD Read SERVOPACK
Parameter
Reads a SERVOPACK parameter.
18 PRM_WR Write SERVOPACK
Parameter
Write a SERVOPACK parameter.
19 ALM_MON Monitor SERVOPACK Alarms Monitors SERVOPACK alarms.
20 ALM_HIST Monitor SERVOPACK Alarm
History
Monitors SERVOPACK alarm history.
21 ALMHIST_CLR Clear SERVOPACK Alarm
History
Clears SERVOPACK alarm history data.
22 ABS_RST Reset Absolute Encoder Resets the absolute encoder.
23 VELO Speed Reference Operates with speed control mode.
24 TRQ Torque Reference Operates with torque control mode.
25 PHASE Phase References Operates with phase control mode.
26 KIS Change Position Loop Inte-
gration Time Constant
Changes the integration time constant for the position
loop.

YASKAWA MP2100 Series Specifications

General

Brand	YASKAWA
Model	MP2100 Series
Category	Controller
Language	English