Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 310)

7.2 Motions After Switching Motion Commands
7.2.11 Switching from PHASE
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PHASE
EX_POSING
PHASE will immediately switch to EX_POSING, and the control mode will change from
phase control mode to position control mode. When this happens, the amount of motion
stored in the acceleration/deceleration filter will be output.
When execution of EX_POSING is started, values are written to the related servo parame-
ters and then the positioning operation starts.
The value of the Position Reference Setting (OL 1C) when the motion command is
switched will be as follows.
<In Incremental Addition Mode (OW 09, bit 5 = 0)>
Incremental value = Target position − IL 14 (DPOS)
OL 1C = OL 1C+ Incremental value
<In Absolute Mode (OW 09, bit 5 = 1)>
OL 1C = Target position
ZRET
PHASE will immediately switch to ZRET, and the control mode will change from phase
control mode to position control mode. When this happens, the amount of motion stored in
the acceleration/deceleration filter will be output.
When execution of ZRET is started, values are written to the related servo parameters and
then the zero return operation starts.
INTERPOLATE
PHASE will immediately switch to INTERPOLATE, and the control mode will change
from phase control mode to position control mode.
ENDOF_INTER
POLATE
Same as INTERPOLATE
LATCH Same as INTERPOLATE
Switched From Switched To Operation
PHASE EX_POSING
PHASE EX_POSING
PHASE
Commands are held because the values
of the parameters relating to external
positioning are changed.
EX_POSING
Phase control mode Position control mode
Motion command
Motion command
response
PHASE ZRET
PHASE ZREY
PHASE
Commands are held because the values
of the parameters relating to zero point
return are changed.
ZRET
Phase control mode Position control mode
Motion command
Motion command
response
PHASE
PHASE INTERPOLATE
PHASE INTERPOLATE
Phase control mode Position control mode
INTERPOLATE
Motion command
Motion command
response