YASKAWA MP2200

Appendix A Switching Motion Commands
A-5
A
Appendix A.3 SVA-01 Module Motion Command Execution Table
The following table shows which commands can be executed during execution of another motion
command in an SVA-01 Module.
(Note) {: Execution possible.
×: Command aborted (deceleration stop)
Command
Being
Executed
New Command
Code
01234 5 6789232425
NOP POS EX_P ZRET INTE ENDO LATC FEED STEP ZSET VELO TRQ PHAS
0
NOP
−
{{{{ { {{{{{{{
1
POSING
×
−
{ × { { {{{ × {{{
2
EX_POSING
× {
−
× { { {{{ × {{{
3
ZRET
×××
−
×××××××××
4
INTERPOLA
TE
{{{ ×
−
{ {{{ × {{{
5
ENDOF_INT
ERPOLATE
{{{ × {
−
{{{ × {{{
6
LATCH
{{{ × {{
−
{{ × {{{
7
FEED
× {{ × {{{
−
{ × {{{
8
STEP
× {{ × {{{{
−
× {{{
9
ZSET
{{{{{ { {{{ − {{{
23
VELO
× {{ ××××{{ ×
−
{{
24
TRQ
× {{ ××××{{ × {
−
{
25
PHASE
× {{ ××××{{ × {{
−
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