YASKAWA SVC - Page 282

4.4 Changing the Command
4.4.1 Motion Command and Subcommand Execution Judgment Table
4
Motion Control Program Commands and Instructions
4-139
Note: : Indicates commands that can be changed to.
Δ : Indicates commands that can be executed only when the absolute value specification method is selected
for the position reference type. If the incremental addition method is selected, the axis stops when the com-
mand is changed.
× : Indicates when the current command is canceled and the axis decelerates to a stop.
: Indicates commands that are ignored. Processing for the current command will continue.
Changing from the INTERPOLATE, LATCH, or PHASE command to the SCC or CHG_FILTER command
before distribution is completed will cause a command error.
Code
Current
Command
New Command
17 18 19 20 21 22 23 24 25 26 27 34 35 36 37 38 39
PR
M_
PR
M_
AL
M_
AL
M_
AL
MH
AB
S_
VE
LO
TR
Q
PH
AS
KI
S
PP
R
EX
_F
ME
M_
ME
M_
PM
EM
PM
EM
ML
TT
0NOP 
1POSING  × 
2
EX_POS-
ING
ΔΔΔΔΔΔ×××Δ× ΔΔΔΔΔ
3ZRET ×××××××××××××××××
4
INTERPO-
LATE

6LATCH 
7FEED ×××××× ×× ×××××
8STEP  × 
9ZSET 
10 ACC 
11 DCC 
12 SCC 
13
CHG_FIL-
TER

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 ×
××××× ××−×××××
35 MEM_RD  − 
36
MEM_WR − −  −
37 PMEM_RD − 
38
PMEM_W
R
− 
39
MLTTRN_
SET
−