YASKAWA SVC User Manual page 311

4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
Command
before
Switching
STEP
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.
4-168
Command
after
Switching
The motion command immediately switches to the PHASE command, and
the control mode switches from position control to phase control.
The reference value of the PHASE
command is output regardless of the current
speed when the command is switched.
PHASE
Motion command
Motion command
response
EX_FEED Same as for the FEED command.
Operation
STEP PHASE
STEP PHASE
STEP PHASE
Position Control Mode Phase Control Mode
Continued from previous page.