Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 282)

7.2 Motions After Switching Motion Commands
7.2.2 Switching from EX_POSING
7-12
EX_POSING
STEP
EX_POSING will switch to STEP when the axis stops after deceleration.
ZSET
<In Incremental Addition Mode (OW 09, bit 5 = 0)>
EX_POSING will switch to ZSET when the axis stops after deceleration.
<In Absolute Mode (OW 09, bit 5 = 1)>
EX_POSING will immediately switch to ZSET, and positioning will continue.
In actual operation, set the zero point by executing ZSET in the positioning
completed status.
VELO
EX_POSING will switch to VELO when the axis stops after deceleration, and the control
mode will change from position control mode to speed control mode.
Switched From Switched To Operation
Cancelled
EX_POSING
operation
EX_POSING
EX_POSING STEP
EX_POSING STEP
STEP
STEP moving
amount
Motion command
Motion command
response
EX_POSING
Cancelled
EX_POSING
operation
EX_POSING ZSET
EX_POSING ZSET
A machine coordinate
system will be constructed
where the axis stops after
deceleration.
Motion command
Motion command
response
EX_POSING
operation
continues
EX_POSING
EX_POSING ZSET
EX_POSING ZSET
Motion command
Motion command
response
Position control mode Speed control mode
Cancelled
EX_POSING
operation
EX_POSING
EX_POSING VELO
EX_POSING VELO
VELO
Motion command
Motion command
response