YASKAWA MP2000 Series User Manual page 238

8.1 Switchable Motion Commands
8.1.4 Switching from ZRET
Switched From
ZRET
8-12
Switched To
ZRET will switch to STEP when the axis stops after deceleration.
STEP
Motion command
Motion command
response
ZRET will switch to ZSET when the axis stops after deceleration.
ZSET
Motion command
Motion command
response
ZRET will switch to VELO when the axis stops after deceleration.
VELO
Motion command
Motion command
response
ZRET will switch to TRQ when the axis stops after deceleration.
TRQ
Motion command
Motion command
response
ZRET will switch to PHASE when the axis stops after deceleration.
PHASE
Motion command
Motion command
response
Operation
Cancelled
ZRET operation
ZRET STEP
ZRET STEP
ZRET STEP
A machine coordinate
system will be established
on the base of the position
where the axis stops after
Cancelled
deceleration.
ZRET operation
ZRET
ZRET ZSET
ZRET ZSET
Cancelled
ZRET operation
ZRET VELO
ZRET VELO
ZRET VELO
Position control mode
Speed control mode
Cancelled
ZRET operation
ZRET TRQ
ZRET TRQ
ZRET TRQ
Position control mode Torque control mode
Cancelled
ZRET operation
ZRET PHASE
ZRET PHASE
ZRET PHASE
Position control mode
Phase control mode