11.3 Motion Commands
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11.3 Motion Commands
The SVR reads and writes motion parameters and executes commands at the beginning of the high-speed scan.
11.3.1 Motion Command Table
The following table lists the motion commands that can be used with the SVR.
Command
Code
Command
Name
Overview
0
NOP
No command
1
POSING
Positioning
Positions to the specified position using the specified
acceleration/deceleration times and the specified speed.
2
EX_POSING
External Positioning
Performs the same operation as the POSING command.
3
ZRET
Zero Point Return
Sets the zero point in the machine coordinate system.
4
INTERPOLATE
Interpolation
Performs interpolation feeding using positioning data
distributed consecutively from the CPU Module.
5
−
Reserved by system.
6
LATCH
Latch
Performs the same operation as the INTERPOLATE
command.
7
FEED
JOG Operation
Moves the axis at the specified speed in the specified
direction until the command is canceled.
8
STEP
STEP Operation
Positions the specified travel distance in the specified
direction at the specified speed.
9
ZSET
Zero Point Setting
Sets the zero point in the machine coordinate system.
23
VELO
Speed Reference
The SVR does not support a speed control function.
24
TRQ
Torque Reference
The SVR does not support a torque control function.
25
PHASE
Phase Reference
Performs the same operation as the JOG operation. An
acceleration/deceleration function, however, is not
supported.