4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
4
Motion Contr
ol Pr
ogram Command
s
and In
s
truction
s
4-153
ZRET
VELO
The motion command switches to the VELO command after the axis decel-
erates to a complete stop.
TRQ
The motion command switches to the TRQ command after the axis decel-
erates to a complete stop.
PHASE
The motion command switches to the PHASE command after the axis
decelerates to a complete stop.
EX_FEED
The motion command switches to the EX_FEED command after the axis
decelerates to a complete stop.
When execution of the EX_FEED command is started, the related SERVO-
PACK parameters are written, and then the jogging operation starts.
Continued from previous page.
Command
before
Switching
Command
after
Switching
Operation
ZRET
ZRET
VELO
ZRET
VELO
VELO
Canceled part of
ZRET operation
Motion command
Motion command
re
s
pon
s
e
Po
s
ition Control Mode
S
peed Control Mode
ZRET
ZRET
TRQ
ZRET
TRQ
TRQ
Canceled part of
ZRET operation
Motion command
Motion command
re
s
pon
s
e
Po
s
ition Control Mode
Torque Control Mode
ZRET
ZRET
PHA
S
E
ZRET
PHA
S
E
PHA
S
E
Canceled part of
ZRET operation
Motion command
Motion command
re
s
pon
s
e
Po
s
ition Control Mode
Pha
s
e Control Mode
ZRET
ZRET
EX_FEED
ZRET
EX_FEED
EX_FEED
Canceled part of
ZRET operation
Motion command
Motion command
re
s
pon
s
e
Summary of Contents for SVC
Page 34: ...2 6 4 Reference Output Timing 2 20 2 6 5 Precautions When Combining with Other Modules 2 21...
Page 383: ...5 2 Absolute Encoders 5 2 6 Position Management Method for Each Machine Operation Type 5 42...
Page 387: ...5 2 Absolute Encoders 5 2 6 Position Management Method for Each Machine Operation Type 5 46...