4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
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Switching from the ZSET Motion Command
The ZSET command completes in one scan as long as an infinite-length axis is not used with
an absolute encoder.
Any other motion command is started immediately if it is switched to while execution of the
ZSET command is in progress.
STEP
PHASE
The motion command immediately switches to the PHASE command, and
the control mode switches from position control to phase control.
EX_FEED Same as for the FEED command.
Continued from previous page.
Command
before
Switching
Command
after
Switching
Operation
STEP
STEP PHASE
STEP PHASE
PHASE
The reference value of the PHASE
command is output regardless of the current
speed when the command is switched.
Motion command
Motion command
response
Position Control Mode
Phase Control Mode
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