Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 285)

7.2 Motions After Switching Motion Commands
7.2.3 Switching from ZRET
7-15
Switching Commands during Execution
ZRET
INTERPOLATE
ZRET will switch to INTERPOLATE when the axis stops after deceleration.
1C) during Deceleration>
• In Incremental Addition Mode (OW 09, bit 5 = 0)
Any change in the Position Reference Setting (OL 1C) will be ignored.
• In Absolute Mode (OW 09, bit 5 = 1)
The change in the Position Reference Setting (OL 1C) will be output as soon as the
first high-speed scan after INTERPOLATE execution starts.
Do not change the Position Reference Setting during deceleration unless it is
absolutely necessary.
ENDOF_INTER
POLATE
Same as INTERPOLATE
LATCH Same as INTERPOLATE
FEED
ZRET will switch to FEED when the axis stops after deceleration.
STEP
ZRET will switch to STEP when the axis stops after deceleration.
ZSET
ZSET command will be executed when the axis stops after deceleration.
Switched From Switched To Operation
ZRET
ZRET INTERPOLATE
ZRET INTERPOLATE
Cancelled
ZRET operation
INTERPO
LATE
Motion command
Motion command
response
ZRET
ZRET FEED
ZRET FEED
Cancelled
ZRET operation
FEED
Motion command
Motion command
response
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 constructed
where the axis stops after
deceleration.
Motion command
Motion command
response