YASKAWA SVC - Commands; Motion Commands

4.1 Commands
4.1.1 Motion Commands
4-3
4
Motion Control Program Commands and Instructions
4.1 Commands
4.1.1 Motion Commands
Motion commands are used to perform motion control for machine operation. They are used to
write motion control programs as ladder programs.
A distinct command code is assigned to each motion command. Machine operation is started
by setting the OW
 08 setting parameter to the command code of the motion command to
be used. This section describes motion commands.
The following table lists the motion commands.
Refer to the reference pages for details on these commands.
Com-
mand
Code
Command Name Introduction
SVC
Function
Modules
SVR
Function
Modules
Refer-
ence
Page
0NOP
No Operation
(No command)
Nothing is executed. If you
change to this command
during execution of another
command, the current com-
mand process is canceled.
−
1 POSING Positioning
Performs positioning to the
specified position at the speci-
fied acceleration/deceleration
time constant and velocity.

page
4-7
2EX_POSING
External Posi-
tioning
Moves the axis by the external
positioning travel distance from
the current position when an
external positioning signal is
input during positioning.

page
4-13
3ZRET
Zero Point
Return
Returns to the origin in the
machine coordinate system.
When an incremental encoder
is used, there are 13 different
methods that you can use for
the origin return operation.

page
4-20
4 INTERPOLATE Interpolation
Performs interpolation feeding
using positioning data that is
distributed from the CPU.

page
4-42
5 − Reserved. −−−−
6LATCH
Latch
(Interpolation
mode with latch
input)
Stores the current position
when a latch signal is input
during interpolation feeding.

page
4-46
7 FEED Jog (Jog mode)
Moves the axis at the specified
speed in the specified direction
until the command is canceled.

page
4-50
8STEP
STEP Operation
(Relative posi-
tion mode)
Performs positioning in the
specified direction at the spec-
ified speed for the specified
travel distance.

page
4-55
9ZSET Set Zero Point
Sets the origin in machine
coordinates and enables the
software limits.

page
4-60
10 ACC
Change Acceler-
ation Time
Changes the acceleration time
for linear acceleration and
deceleration.

page
4-62
11 DCC
Change Deceler-
ation Time
Changes the deceleration time
for linear acceleration and
deceleration.

page
4-
64
Continued on next page.