YASKAWA SVC - Page 96

3.4 Motion Parameter Details
3.4.2 Setting Parameter Details
3-43
3
Parameters for Motion Control
Motion Commands
 Motion Commands
Set the motion command.
0: NOP (No Operation)
1: POSING (Positioning)
2: EX_POSING (External Positioning)
3: ZRET (Zero Point Return)
4: INTERPOLATE (Interpolation)
5: − (Reserved)
6: LATCH (Interpolate with Latch Input)
7: FEED (Jog)
8: STEP (STEP Operation)
9: ZSET (Set Zero Point)
10: ACC (Change Acceleration Time)
11: DCC (Change Deceleration Time)
12: SCC (Change Filter Time Constant)
13: CHG_FILTER (Change Filter Type)
14: KVS (Change Speed Loop Gain)
15: KPS (Change Position Loop Gain)
16: KFS (Change Feedforward)
17: PRM_RD (Read SERVOPACK Parameter)
18: PRM_WR (Write SERVOPACK Parameter)
19: ALM_MON (Monitor Alarms)
20: ALM_HIST (Monitor Alarm History)
21: ALMHIST_CLR (Clear Alarm History)
22: ABS_RST (Reset Absolute Encoder)
23: VELO (Issue Speed Reference)
24: TRQ (Issue Torque/Force Reference)
25: PHASE (Issue Phase Reference)
26: KIS (Change Position Loop Integral Time Constant)
27: PPRM_WR (Write Non-volatile Parameter)
28 to 33: − (Reserved)
34: EX_FEED (Jog with External Positioning)
35: MEM_RD (Read Memory)
36: MEM_WR (Write Memory)
37: PMEM_RD (Read Non-volatile Memory)
38: PMEM_WR (Write Non-volatile Memory)
39: MLTTRN_SET (Multiturn Limit Setting)
Refer to the following chapter for details on these commands.
Chapter 4 Motion Control Program Commands and Instructions
Register
Address
Name
Setting
Range
Setting Unit Default Control mode
OW08 Motion Commands 0 to 39 − 0
Position
Speed
Phase
Torqu e
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