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7.2 Motions After Switching Motion Commands
7.2.3 Switching from ZRET
7-16
ZRET
VELO
ZRET will switch to VELO when the axis stops after deceleration.
TRQ
ZRET will switch to TRQ when the axis stops after deceleration.
PHASE
ZRET will switch to PHASE when the axis stops after deceleration.
(cont’d)
Switched From
Switched To
Operation
Motion command
Motion command
response
ZRET
ZRET
VELO
ZRET
VELO
Canceled
ZRET operation
VELO
Position control mode
Speed control mode
Motion command
Motion command
response
ZRET
ZRET
TRQ
ZRET
TRQ
Canceled
ZRET operation
TRQ
Position control mode
Torque control mode
Motion command
Motion command
response
ZRET
ZRET
PHASE
ZRET
PHASE
Canceled
ZRET operation
PHASE
Position control mode
Phase control mode