YASKAWA SVC User Manual page 296

Command Command
before after
Switching Switching
VELO
TRQ
ZRET
PHASE
EX_FEED
4.4.2 Operation after Changing the Motion Command
The motion command switches to the VELO command after the axis decel-
erates to a complete stop.
ZRET
Motion command ZRET
Motion command
ZRET
response
Position Control Mode
The motion command switches to the TRQ command after the axis decel-
erates to a complete stop.
ZRET
Motion command ZRET
Motion command
ZRET
response
Position Control Mode
The motion command switches to the PHASE command after the axis
decelerates to a complete stop.
ZRET
Motion command ZRET
Motion command
ZRET
response
Position Control Mode
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.
ZRET
Motion command
ZRET
Motion command
ZRET
response
4.4 Changing the Command
Continued from previous page.
Operation
Canceled part of
ZRET operation
VELO
VELO
VELO
Speed Control Mode
Canceled part of
ZRET operation
TRQ
TRQ
TRQ
Torque Control Mode
Canceled part of
ZRET operation
PHASE
PHASE
PHASE
Phase Control Mode
Canceled part of
ZRET operation
EX_FEED
EX_FEED
EX_FEED
4
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