Operation After Changing The Motion Command - YASKAWA SVC User Manual

4.4 Changing the Command

4.4.2 Operation after Changing the Motion Command

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.
Code
0 NOP
1 POSING
2 EX_POSING
3 ZRET
4 INTERPOLATE
6 LATCH
7 FEED
8 STEP
9 ZSET
23 VELO
24 TRQ
25 PHASE
34 EX_FEED

Note:
×: 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.
4-142
Current 0 1
Command
NOP POS
−

× −
×

× ×
 
 
×

× 
 
×

×

 
×

: Indicates commands that can be changed to.
New Command
2 3 4 6
EX_ ZRE FEE
INTE LAT
P T
   
× ×
 
− × ×

× − × ×
−
  
   −
× ×
 
  × ×
   
× × ×

× × ×

   
× ×
 
7 8 9 23 24
STE ZSE VEL
TRQ
D P T O
   
×
  
×
  
× × × ×
   
   
− ×
 
 −  
× −
 
× −
 
×
  
   
×
  
25 34
PHA EX_F
S E
  
  
  
× × ×
  
  
  
  
  
  
−
 
−
 
−
 