Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module User Manual
Page 279
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7.2 Motions After Switching Motion Commands
7.2.1 Switching from POSING
7-9
Switching Commands during Execution
POSING
PHASE
POSING will immediately switch to PHASE, and the control mode will change from posi-
tion control mode to phase control mode.
Switched From
Switched To
Operation
Cancelled
POSING
operation
The reference value of the PHASE
command will be output as is regardless
of the speed when the motion command
is switched.
POSING
PHASE
POSING
PHASE
POSING
PHASE
Position control mode
Phase control mode
Motion command
Motion command
response
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