Yaskawa JAPMC-MC2300 - Manual (Page 231)

8.1 Switchable Motion Commands
8.1.2 Switching from POSING
8-4
POSING
INTERPOLATE
POSING will immediately switch to INTERPOLATE. The moving amount stored in the
accel/decel filter will be reset to 0.
The value of Position Reference Setting (OL
1C) when the motion command is
switched will be as follows.
09, bit 5 = 0)>
Incremental value = Position incremental value per high-speed scan
OL
1C = OL 1C + Incremental value
09, bit 5 = 1)>
OL 1C = IL 14 (DPOS) + Position incremental value per high-speed scan
INTERPOLATE switched from POSING starts its operation with the empty
accel/decel filter. Therefore, when the accel/decel filter is set for INTERPO-
LATE command, the speed will not smoothly change, and the distribution will
be started from the state Speed = 0 (see (1).) To change the speed smoothly,
do not set the filter for INTERPOLATE command (see (2).)
(1) When Using the Accel/Decel Filter for INTERPOLATE Command
(2) When Not Using the Accel/Decel Filter for INTERPOLATE Command
ENDOF_INTER
POLATE
Same as INTERPOLATE
LATCH Same as INTERPOLATE
FEED
POSING will immediately switch to FEED, and the moving amount stored in the accel/
decel filter will be maintained.
Switched From Switched To Operation
INTERPOLATE POSING
POSING Motion command
Motion command
response
INTERPOLATE
POSING INTERPOLATE
Distribution will start from
the state Speed = 0 since
the accel/decel filter is
empty.
Cancelled POSING
operation.
The accel/decel filter for
POSING command will be
cancelled.
INTERPOLATE POSING
POSING Motion command
Motion command
response
INTERPOLATE
POSING INTERPOLATE
The reference value of
INTERPOLATE command
will be output as it is
regardless of the speed at the
time the motion command is
switched to INTERPOLATE.
Cancelled POSING
operation
The accel/decel filter for
POSING command will be
cancelled.
Cancelled
POSING operation
POSING
POSING FEED
POSING FEED
FEED
The speed will smoothly change.
The speed at the time the motion com-
mand is switched will increase/decrease
until it reaches the FEED target speed.
The accel/decel filter will remain valid.
Motion command
Motion command
response