Yaskawa JAPMC-MC2300 - Manual (Page 238)

8.1 Switchable Motion Commands
8.1.4 Switching from ZRET
8-11
8
Switching Commands during Execution
8.1.4 Switching from ZRET
Switched From Switched To Operation
ZRET
NOP
ZRET will switch to NOP when the axis stops after deceleration.
POSING
ZRET will switch to POSING when the axis stops after deceleration.
<Change in Position Reference Setting (OL 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 value of the Position Reference Setting (OL 1C) when POSING execution starts
will be the target position.
Do not change the Position Reference Setting during deceleration unless it is
absolutely necessary.
EX_POSING Same as POSING
ZRET ZRET operation will continue.
INTERPOLATE
ZRET will switch to INTERPOLATE when the axis stops after deceleration.
<Change in Position Reference Setting (OL 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.
ZRET
ZRET NOP
ZRET NOP
Cancelled
ZRET operation
Motion command
Motion command
response
ZRET
ZRET POSING
ZRET POSING
Cancelled
ZRET operation
POSING
Motion command
Motion command
response
ZRET
ZRET Motion command
Motion command
response
INTERPOLATE
ZRET INTERPOLATE
Cancelled ZRET
operation
INTER
POLATE
ZRET
ZRET FEED
ZRET FEED
Cancelled
ZRET operation
FEED
Motion command
Motion command
response