YASKAWA MP2100 Series User Manual

8 Motion Commands
8.1.3 Motion Command Support by SERVOPACK Model
8-4
8.1.3 Motion Command Support by SERVOPACK Model
The following tables shows the motion commands supported by each model of SERVOPACK. A Motion Com-
mand Setting Error warning will occur if a command that is not supported is specified.
Note: OK: Supported, −−−: Not supported
32-byte: Supported only for 32-byte Mode of MECHATROLINK-II.
Motion command
SERVOPACK
SGD-

N,
SGDB-

AN
SGD-

E
+ NS100
SGDH-

E
+NS115
SGDS-

1

M-I M-II M-I M-II
Main Command
(OW

08)
NOP
OK OK OK OK OK OK
POSING
OK OK OK OK OK OK
EX_POSING
OK OK OK OK OK OK
ZRET
OK OK OK OK OK OK
INTERPOLATE
OK OK OK OK OK OK
ENDOF_INTERP
OLATE
OK OK OK OK OK OK
LATCH
OK OK OK OK OK OK
FEED
OK OK OK OK OK OK
STEP
OK OK OK OK OK OK
ZSET
OK OK OK OK OK OK
ACC
OK OK OK OK OK OK
DCC
−
OK OK OK OK OK
SCC
OK OK OK OK OK OK
CHG_FILTER
OK OK OK OK OK OK
KVS
OK OK OK OK OK OK
KPS
OK OK OK OK OK OK
KFS
OK OK OK OK OK OK
PRM_RD
OK OK OK OK OK OK
PRM_WR
OK OK OK OK OK OK
ALM_MON
OK OK OK OK OK OK
ALM_HIST
OK OK OK OK OK OK
ALMHIST_CLR
OK OK OK OK OK OK
ABS_RST
−
OK OK OK OK OK
VELO
−−−
OK
−
OK
TRQ
−−−
OK
−
OK
PHASE
−
OK OK OK OK OK
KIS
−
OK OK OK OK OK
Subcommand
(OW

0A)
NOP
OK OK OK OK OK OK
PRM_RD
−−−
32-byte
−
32-byte
PRM_WR
−−−
32-byte
−
32-byte
SMON
−−−
32-byte
−
32-byte
FIXPRM_RD
OK OK OK OK OK OK

YASKAWA MP2100 Series Specifications

General

Brand	YASKAWA
Model	MP2100 Series
Category	Controller
Language	English