7.2 Motions After Switching Motion Commands
7.2.3 Switching from ZRET
7-16
ZRET
VELO
ZRET will switch to VELO when the axis stops after deceleration.
TRQ
ZRET will switch to TRQ when the axis stops after deceleration.
PHASE
ZRET will switch to PHASE when the axis stops after deceleration.
(cont’d)
Switched From Switched To Operation
Motion command
Motion command
response
ZRET
ZRET VELO
ZRET VELO
Canceled
ZRET operation
VELO
Position control mode
Speed control mode
Motion command
Motion command
response
ZRET
ZRET TRQ
ZRET TRQ
Canceled
ZRET operation
TRQ
Position control mode
Torque control mode
Motion command
Motion command
response
ZRET
ZRET PHASE
ZRET PHASE
Canceled
ZRET operation
PHASE
Position control mode
Phase control mode
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