Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 284)

7.2 Motions After Switching Motion Commands
7.2.3 Switching from ZRET
7-14
7.2.3 Switching from ZRET
Switched From Switched To Operation
ZRET
NOP
ZRET will be switched 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
ZRET will switch to EX_POSING when the axis stops after deceleration.
When execution of EX_POSING is started, values are written to the related servo parame-
ters and then the positioning operation starts.
<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 EX_POSING execution
starts will be the target position
Do not change the Position Reference Setting during deceleration unless it is
absolutely necessary.
ZRET ZRET operation will continue.
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 EX_POSING
ZRET EX_POSING
EX_POSING
Cancelled
ZRET operation
Motion command
Motion command
response