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7.1 Switchable Motion Commands and Subcommands
7.1.1 Switching Between Motion Commands
7-3
Switching Commands during Execution
: Possible
Δ
: Possible in Absolute Mode. In Incremental Addition mode, the axis will stop when the command is switched.
×
: The command will be aborted. The axis will be decelerated to a stop.
: A newly set command will be ignored and the processing for the command in execution will continue.
Cod
e
Switched
From
(Command in
Execution)
Switched To (Newly Set Command)
16
17
18
19
20
21
22
23
24
25
26
29
30
31
KFS
PRM_
PRM_
ALM_
ALM_
ALMH
ABS_
VELO
TRQ
PHAS
KIS
SV_ON
SV_OF
ALM
0
NOP
1
POSING
×
×
-
2
EX_POSING
Δ
Δ
Δ
Δ
Δ
Δ
×
×
×
×
Δ
×
-
3
ZRET
×
×
×
×
×
×
×
×
×
×
×
×
-
4
INTERPO-
LATE
-
5
ENDOF_IN-
TERPO-
LATE
-
6
LATCH
-
7
FEED
×
×
×
×
×
×
×
×
×
-
8
STEP
×
×
-
9
ZSET
×
10 ACC
×
11 DCC
×
12 SCC
×
13
CHG_
FILTER
×
14 KVS
×
15 KPS
×
16 KFS
-
×
17
PRM_
RD
-
×
18
PRM_
WR
-
×
19
ALM_
MON
-
×
20
ALM_
HIST
-
×
21
ALMHIST_-
CLR
-
×
22
ABS_
RST
-
×
23 VELO
×
×
×
×
×
×
×
-
×
×
24 TRQ
×
×
×
×
×
×
×
-
×
×
25 PHASE
-
-
26 KIS
-
×
27 PPRM_WR
-
×
29 SV_ON
-
30 SV_OFF
×
-
31 ALM_CLR
×
39
MLT-
TRN_SET
×