Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 298)

7.2 Motions After Switching Motion Commands
7.2.8 Switching from ZSET
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7.2.8 Switching from ZSET
The execution of the ZSET command is completed in one scan if neither Absolute Mode nor infinite length axis are
selected. So, a motion command that is set to run while the ZSET command is being carried out as soon as it is issued.
STEP PHASE
STEP will immediately switch to PHASE, and the control mode will change from position
control mode to phase control mode.
Switched From Switched To Operation
STEP
STEP PHASE
STEP PHASE
Position control mode Phase control mode
PHASE
The reference value of the PHASE command
will be output as is regardless of the speed
when the motion command is switched.
Motion command
Motion command
response