YASKAWA MP2200

5-1
5
Motion Commands
This chapter explains each motion command’s operation, related parameters, and
timing charts.
5.1
Motion Commands
.................................................................. 5-2
5.1.1
Motion Command Table
......................................................................... 5-2
5.1.2
Motion Commands Supported by SERVOPACK Models
...................... 5-3
5.2
Motion Command Details
........................................................ 5-4
5.2.1
Positioning (POSING)
............................................................................ 5-4
5.2.2
External Positioning (EX_POSING)
....................................................... 5-9
5.2.3
Zero Point Return (ZRET)
.................................................................... 5-15
5.2.4
Interpolation (INTERPOLATE)
............................................................. 5-56
5.2.5
Latch (LATCH)
..................................................................................... 5-59
5.2.6
JOG Operation (FEED)
....................................................................... 5-64
5.2.7
STEP Operation (STEP)
...................................................................... 5-67
5.2.8
Zero Point Setting (ZSET)
................................................................... 5-72
5.2.9
Change Linear Acceleration Time Constant (ACC)
............................. 5-74
5.2.10
Change Linear Deceleration Time Constant (DCC)
........................... 5-76
5.2.11
Change Filter Time Constant (SCC)
.................................................. 5-78
5.2.12
Change Filter Type (CHG_FILTER)
................................................... 5-80
5.2.13
Change Speed Loop Gain (KVS)
....................................................... 5-82
5.2.14
Change Position Loop Gain (KPS)
.................................................... 5-84
5.2.15
Change Feed Forward (KFS)
............................................................ 5-86
5.2.16
Read SERVOPACK Parameter (PRM_RD)
....................................... 5-88
5.2.17
Write SERVOPACK Parameter (PRM_WR)
...................................... 5-90
5.2.18
Monitor SERVOPACK Alarms (ALM_MON)
...................................... 5-92
5.2.19
Monitor SERVOPACK Alarm History (ALM_HIST)
............................ 5-94
5.2.20
Clear SERVOPACK Alarm History (ALMHIST_CLR)
........................ 5-96
5.2.21
Reset Absolute Encoder (ABS_RST)
................................................ 5-98
5.2.22
Speed Reference (VELO)
................................................................ 5-100
5.2.23
Torque Reference (TRQ)
................................................................. 5-104
5.2.24
Phase References (PHASE)
........................................................... 5-110
5.2.25
Change Position Loop Integration Time Constant (KIS)
.................. 5-114
5.3
Motion Subcommands
......................................................... 5-116
5.3.1
Motion Sub-command Table
.............................................................. 5-116
5.3.2
Motion Subcommand Settings
........................................................... 5-116
5.3.3
No Command (NOP)
......................................................................... 5-117
5.3.4
Read SERVOPACK Parameter (PRM_RD)
....................................... 5-118
5.3.5
Write SERVOPACK Parameter (PRM_WR)
...................................... 5-120
5.3.6
Monitor Status (SMON)
...................................................................... 5-122
5.3.7
Read Fixed Parameters (FIXPRM_RD)
............................................. 5-124
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