Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 290)

7.2 Motions After Switching Motion Commands
7.2.5 Switching from ENDOF_INTERPOLATE or LATCH
7-20
7.2.5 Switching from ENDOF_INTERPOLATE or LATCH
The operations are the same as are described in 7.2.4 Switching from INTERPOLATE.
INTERPOLATE PHASE
INTERPOLATE will immediately switch to PHASE, and the control mode will change
from position control mode to phase control mode.
Switched From Switched To Operation
INTERPOLATE
INTERPOLATE PHASE
INTERPOLATE PHASE
Position control mode Phase control mode
PHASE
The reference value of the PHASE
command will be output as it is
regardless of the speed when
the motion command is switched.
Motion command
Motion command
response