YASKAWA SVC - Changing the Command; Motion Command and Subcommand Execution Judgment Table

4.4 Changing the Command
4.4.1 Motion Command and Subcommand Execution Judgment Table
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4
Motion Control Program Commands and Instructions
4.4 Changing the Command
This section provides tables that indicate whether changing to other commands is possible
during motion command execution and whether subcommands can be executed. This section
also describes operation changes that occur after the motion command is changed.
4.4.1 Motion Command and Subcommand Execution Judg-
ment Table
SVC Function Module Motion Command Execution Judg-
ment Table
The following table indicates whether changing to another command is possible during motion
command execution.
Code
Current
Command
New Command
0 1 2 3 4 6 7 8 9 10 11 12 13 14 15 16
NO
P
PO
S
EX
_P
ZR
ET
IN
TE
LA
TC
FE
ED
ST
EP
ZS
ET
AC
C
DC
C
SC
C
CH
G
KV
S
KP
S
KF
S
0NOP − 
1POSING ×− ×× ×  ××××
2
EX_POS-
ING
×Δ− ×× ×Δ××××ΔΔΔ
3ZRET ×××−××××××××××××
4
INTERPO-
LATE
 − 
6LATCH  − 
7 FEED ×ΔΔ ××−× ×××××××
8STEP ×  ×× −  ××××
9ZSET  − 
10 ACC  − 
11 DCC − 
12 SCC  − 
13
CHG_
FILTER
 − 
14 KVS − 
15 KPS − 
16 KFS −
17 PRM_RD 
18 PRM_WR 
19 ALM_MON 
20 ALM_HIST 
21
ALMHIST_
CLR

22 ABS_RST 
23 VELO ×  ××× ××××××××
24
TRQ ×  ××× ××××××
××
25 PHASE 
26 KIS 
27 PPRM_WR 
34 EX_FEED ×ΔΔ ×× ×  ×××××××
35 MEM_RD 
Continued on next page.