YASKAWA SVC - Operation after Changing the Motion Command

4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
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4.4.2 Operation after Changing the Motion Command
The 13 motion commands related to axis motion that are listed below are extracted from the
following table: SVC Function Module Motion Command Execution Judgment Table.
Note: : Indicates commands that can be changed to.
×: Indicates commands for which the current command is canceled and the axis decelerates to a stop. Then,
the new command is executed.
Detailed descriptions of the changes in axis motion when any of the above 13 commands are
changed to another command during execution are provided below.
Code
Current
Command
New Command
0 1 2 3 4 6 7 8 9 23 24 25 34
NOP POS
EX_
P
ZRE
T
INTE LAT
FEE
D
STE
P
ZSE
T
VEL
O
TRQ
PHA
S
EX_F
E
0NOP − 
1POSING ×− ×× × 
2EX_POSING ×  −  ×× × 
3ZRET ×××−×××××××××
4INTERPOLATE − 
6LATCH  − 
7 FEED ×  ××−×
8STEP ×  ×× − 
9ZSET  ×−
23 VELO ×  ××× ×−
24 TRQ ×  ××× ×  − 
25 PHASE  − 
34 EX_FEED ×  ×× ×  −