4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
4
Motion Control Program Commands and Instructions
4-181
PHASE
FEED
The motion command immediately switches to the FEED command, and
the control mode switches from phase control to position control.
STEP
The motion command immediately switches to the STEP command, and
the control mode switches from phase control to position control.
ZSET
The motion command immediately switches to the ZSET command, and
the control mode switches from phase control to position control.
Precautions
In actual operation, set the origin by executing ZSET when positioning has
been completed.
Continued on next page.
Continued from previous page.
Command
before
Switching
Command
after
Switching
Operation
PHASE FEED
PHASE FEED
PHASE FEED
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the FEED
command based on the current speed
when the command was switched.)
Motion command
Motion command
response
Phase Control Mode
Position Control Mode
PHASE STEP
PHASE STEP
PHASE STEP
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the STEP
command based on the current speed
when the command was switched.)
Motion command
Motion command
response
Phase Control Mode Position Control Mode
STEP Travel Distance
PHASEZSET
PHASEZSET
PHASE
Output of the amount stored in
the acceleration/deceleration lter
Motion command
Motion command
response
Phase Control Mode
Position Control Mode
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