YASKAWA MP2000 Series - Motions after Switching Motion Commands

7.2 Motions After Switching Motion Commands
7-5
Switching Commands during Execution
7.2 Motions After Switching Motion Commands
The details of motion changes enacted when the command in execution is switched to another command (listed in the
following table) are described in 7.2.1 Switching from POSING.
 : Available
× : The command in execution is aborted (the axis will be decelerated to a stop), and the newly set command will be
executed.
<Switching Between Commands>
Switched To (Newly Set Command)
0123456789232425
NOP POS EX_P ZRET INTE ENDO LAT FEED STEP ZSET VELO TRQ PHAS
Switched From (Command in Execution)
0NOP −  
1POSING ×− ××× × 
2 EX_POSING ×  −  ××× × 
3ZRET ×××−×××××××××
4 INTERPOLATE  − 
5
ENDOF_
INTERPOLATE
 − 
6LATCH   − 
7 FEED ×  ×××−×
8STEP ×  ××× − 
9 ZSET   ×−
23 VELO ×  ×××× ×−
24 TRQ ×  ×××× ×  − 
25 PHASE  −