YASKAWA MP2200

5.1
Motion Commands
5-3
5.1.2 Motion Commands Supported by SERVOPACK Models
The following table shows the motion commands supported by each model of SERVOPACK.
A Motion Command Setting Error warning will occur if an unsupported command is specified.
*
Σ
-II, -III Analog SERVOPACKs:
SGD-

S
，
SGDB-
，
SGDM
，
SGDH
，
SGDS-

01

/

02

(Note)1. M-I: MECHATROLINK-I
M-II: MECHATROLINK-II
2. A: Can be specified.
B: Can be specified in 32-byte mode only.
C: Cannot be specified.
Motion Command
SERVOPACK
SGD-

N,
SGDB-

AN
SGD-

E
+NS100
SGDH-

E
+NS115
SGDS-

1

Σ
-
II
, -
III
Analog
SERVOP
ACKs *
M-I M-II M-I M-II
Main Command
(OW

08)
NOP A A AAAA A
POSING A A AAAA A
EX_POSING A A AAAA A
ZRET A A AAAA A
INTERPOLATE A A AAAA A
ENDOF_INTERPOLATE A A AAAA C
LATCH A A AAAA C
FEED A A AAAA C
STEP A A AAAA C
ZSET A A AAAA C
ACC A A AAAA C
DCC C A AAAA C
SCC A A AAAA C
CHG_FILTER A A AAAA C
KVS A A AAAA C
KPS A A AAAA C
KFS A A AAAA C
PRM_RD A A AAAA C
PRM_WR A A AAAA C
ALM_MON A A AAAA C
ALM_HIST A A AAAA C
ALMHIST_CLR A A AAAA C
ABS_RST C A AAAA C
VELO C C CACA A
TRQ C C CACA A
PHASE C A AAAA A
KIS C A AAAA C
Subcommand
(OW

0A)
NOP A A AAAA C
PRM_RD C C CBCB C
PRM_WR C C CBCB C
SMON C C CBCB C
FIXPRM_RD A A AAAA C
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