Yaskawa JAPMC-MC2300 - Manual (Page 239)

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