Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 279)

7.2 Motions After Switching Motion Commands
7.2.1 Switching from POSING
7-9
Switching Commands during Execution
POSING PHASE
POSING will immediately switch to PHASE, and the control mode will change from posi-
tion control mode to phase control mode.
Switched From Switched To Operation
Cancelled
POSING
operation
The reference value of the PHASE
command will be output as is regardless
of the speed when the motion command
is switched.
POSING PHASE
POSING PHASE
POSING PHASE
Position control mode Phase control mode
Motion command
Motion command
response