YASKAWA SVC - Page 296

4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
4
Motion Control Program Commands and Instructions
4-153
ZRET
VELO
The motion command switches to the VELO command after the axis decel-
erates to a complete stop.
TRQ
The motion command switches to the TRQ command after the axis decel-
erates to a complete stop.
PHASE
The motion command switches to the PHASE command after the axis
decelerates to a complete stop.
EX_FEED
The motion command switches to the EX_FEED command after the axis
decelerates to a complete stop.
When execution of the EX_FEED command is started, the related SERVO-
PACK parameters are written, and then the jogging operation starts.
Continued from previous page.
Command
before
Switching
Command
after
Switching
Operation
ZRET
ZRET VELO
ZRET VELO
VELO
Canceled part of
ZRET operation
Motion command
Motion command
response
Position Control Mode Speed Control Mode
ZRET
ZRET TRQ
ZRET TRQ
TRQ
Canceled part of
ZRET operation
Motion command
Motion command
response
Position Control Mode
Torque Control Mode
ZRET
ZRET PHASE
ZRET PHASE
PHASE
Canceled part of
ZRET operation
Motion command
Motion command
response
Position Control Mode Phase Control Mode
ZRET
ZRET EX_FEED
ZRET EX_FEED
EX_FEED
Canceled part of
ZRET operation
Motion command
Motion command
response