4.4 Changing the Command
4.4.1 Motion Command and Subcommand Execution Judgment Table
4-140
SVC Function Module Motion Subcommand Execution
Judgment Table
The following table shows which subcommands can be executed during execution of motion
commands.
Note: : Indicates subcommands that can be executed.
×: Indicates subcommands that cannot be executed.
Code
Current Motion
Command
New Subcommand
0 1 2 3 4 5 6
NOP PRM_RD PRM_WR INF_RD SMON FIXPRM_RD FIXPRM_CHG
0NOP
1POSING
2EX_POSING ××
3ZRET ××
4INTERPOLATE
6LATCH
7 FEED
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 ××
35 MEM_RD ××
36 MEM_WR ××
37 PMEM_RD ××
38 PMEM_WR ××
39 MLTTRN_SET ××× ××
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