YASKAWA MP2200 User Manual

Appendix A Switching Motion Commands
A-3
A
（Note) 1. {:Execution possible.
∆:Execution possible if position reference type is set for absolute position
reference mode.
×:Command aborted (deceleration stop)
z:The new command is ignored and the current command is continued.
2. Although the table shows that changing to ACC, DCC, SCC, or CHG_FILTER is
possible from INTERPOLATE, ENDOF_INTERPOLATE, LATCH, or PHASE, a
command error will occur if pulse distribution has not been completed.
(cont’d)
Command
Being
Executed
New Command
Code
16 17 18 19 20 21 22 23 24 25 26 29 30 31
KFS
PRM_
RD
PRM_
WR
ALM_
MON
ALM_
HIST
ALMH ABS_ VELO TRQ PHAS KIS SV_ON SV_OF ALM
0
NOP
{{ { {{ { {{{{{ { { {
1
POSING
{{ { { { { × {{{{ − { ×
2
EX_POSING
∆∆∆∆∆∆××××∆− ∆×
3
ZRET
×× × ×××××××× − { ×
4
INTERPOLA
TE
{{ { {{ { {{{{{ − { ×
5
ENDOF_INT
ERPOLATE
{{ { {{ { {{{{{ − { ×
6
LATCH
{{ { {{ { {{{{{ − { ×
7
FEED
×× × × × × ×{{{×− { ×
8
STEP
{{ { { { { × {{{{ − { ×
9
ZSET
{{ { {{ { {{{{{ × {z
10
ACC
zz z zz z zzzzz × {z
11
DCC
zz z zz z zzzzz × {z
12
SCC
zz z zz z zzzzz × {z
13
CHG_FILTE
R
{{ { {{ { {{{{{ × {z
14
KVS
zz z zz z zzzzz × {z
15
KPS
zz z zz z zzzzz × {z
16
KFS
− z z zz z zzzzz × {z
17
PRM_RD
z − z zz zzzzzz × {z
18
PRM_WR
zz − zz zzzzzz × {z
19
ALM_MON
zz z − z z zzzzz × {z
20
ALM_HIST
zz z z − zzzzzz × {z
21
ALMHIST_
CLR
zz z z z − zzzzz × {z
22
ABS_RST
zz z z z z − zzzz × {z
23
VELO
×× × × × × × −{{× {{×
24
TRQ
×× × × × × ×{ − { × {{×
25
PHASE
{{ { {{ { {{{ − { − { ×
26
KIS
zz z zz z zzzz−× {z
29
SV_ON
zz z zz z zzzzz − {z
30
SV_OFF
zz z zz z zzzzz ×−z
31
ALM_CLR
zz z zz z zzzzz × { −
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YASKAWA MP2200 Specifications

General

Brand	YASKAWA
Model	MP2200
Category	Controller
Language	English