Yaskawa JAPMC-MC2300 - Manual (Page 268)

8.1 Switchable Motion Commands
8.1.12 Switching from PHASE
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8
Switching Commands during Execution
PHASE
TRQ
PHASE will immediately switched to TRQ, and the control mode will be changed from
phase control mode to torque/thrust control mode.
PHASE PHASE operation will continue.
Switched From Switched To Operation
PHASE TRQ
PHASE TRQ
Phase control mode
Torque
control mode
PHASE TRQ
The reference value of the TRQ command
will be output as it is regardless of the speed
at the time the motion command is switched
to TRQ.
Motion command
Motion command
response