Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 311)

7.2 Motions After Switching Motion Commands
7.2.11 Switching from PHASE
7-41
Switching Commands during Execution
PHASE
FEED
PHASE will immediately switch to FEED, and the control mode will change from phase
control mode to position control mode.
STEP
PHASE will immediately switch to STEP, and the control mode will change from phase
control mode to position control mode.
ZSET
PHASE will immediately switch to ZSET, and the control mode will change from phase
control mode to position control mode.
In actual operation, set the zero point by executing ZSET in the positioning
completed status.
Switched From Switched To Operation
PHASE FEED
PHASE FEED
Phase control mode Position control mode
PHASE FEED
The speed will smoothly change.
(The speed at the time the motion com-
mand is switched will increase/decrease
until it reaches the target speed of FEED.)
Motion command
Motion command
response
PHASE STEP
PHASE STEP
Phase control mode Position control mode
PHASE STEP
The speed will smoothly change.
(The speed at the time the motion com-
mand is switched will increase/decrease
until it reaches the target speed of STEP.)
STEP moving
amount
Motion command
Motion command
response
PHASE ZSET
PHASE ZSET
Phase control mode Position control mode
PHASE
The amount stored in the
acceleration/deceleration
filter will be output.
Motion command
Motion command
response