Yaskawa JAPMC-MC2300 - Manual (Page 229)

8.1 Switchable Motion Commands
8.1.1 Switching Between Motion Commands
8-2
8.1 Switchable Motion Commands
8.1.1 Switching Between Motion Commands
The following table shows motion commands that can be switched during execution.
: Available
×
: The command in execution is aborted (the axis will be decelerated to a stop), and the newly set command will be
executed.
The details of motion changes enacted when the command in execution is switched to another command are described
in the following sections.
Switched To (Newly Set Command)
0 1 2 3 4 5 6 7 8 9 23 24 25
NOP POS EX_P ZRET INTE ENDO LATC FEED STEP ZSET VELO TRQ PHAS
Switche
d Fr
om (Comman
d in Executio
n)
0 NOP −
1 POSING × − × ×
2 EX_POSING × − × ×
3 ZRET × × × − × × × × × × × × ×
4 INTERPOLATE × − ×
5
ENDOF_
INTERPOLATE
× − ×
6 LATCH × − ×
7 FEED × × − ×
8 STEP × × − ×
9 ZSET −
23 VELO × × × × × × −
24 TRQ × × × × × × −
25 PHASE × × × × × × −