YASKAWA SVC - Page 284

4.4 Changing the Command
4.4.1 Motion Command and Subcommand Execution Judgment Table
4
Motion Control Program Commands and Instructions
4-141
SVR Function Module Motion Command Execution Judg-
ment Table
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.
Code
Current
Command
New Command
0 1 2 3 4 6 7 8 9 10 11 12 13 23 24 25
NO
P
PO
S
EX_
P
ZR
ET
INT
E
LAT
C
FEE
D
STE
P
ZS
ET
AC
C
DC
C
SC
C
CH
G
VEL
O
TR
Q
PHA
S
0NOP −  
1POSING ×− ×× ×  ×××× 
2
EX_POS-
ING
×Δ− ×× ×  ××××ΔΔΔ
3ZRET ×××−××××××××××× ×
4
INTERPO-
LATE
 −  
6LATCH  −  
7FEED ×ΔΔ×××−×××××××× ×
8STEP ×  ××× −××××× 
9ZSET  ×  −  ×  
10 ACC ×××××××××−××××× ×
11 DCC ××××××××××−×××× ×
12 SCC ×××××××××××−××× ×
13
CHG_
FILTER
 ×  ×  ×  −  
23 VELO ×  ××× ×××××−× ×
24 TRQ ×  ××× ××××××− ×
25 PHASE ×ΔΔ×××××××××××× −