Yaskawa JAPMC-MC2300 - Manual (Page 235)

8.1 Switchable Motion Commands
8.1.3 Switching from EX_POSING
8-8
EX_POSING
INTERPOLATE
EX_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 EX_POSING starts its operation with the
empty accel/decel filter. Therefore, when the accel/decel filter is set for
INTERPOLATE command, the speed will not smoothly change, and the distri-
bution 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
EX_POSING will be immediately switch to FEED, and the moving amount stored in the
accel/decel filter will be maintained.
Switched From Switched To Operation
INTERPOLATE EX_POSING
Cancelled EX_POSING
operation
The accel/decel filter for
EX_POSING command will
be cancelled.
EX_POSING Motion command
Motion command
response
INTERPOLATE
EX_POSING INTERPOLATE
Distribution will start from
the state Speed = 0
since the accel/decel filter
is empty.
INTERPOLATE EX_POSING
EX_POSING Motion command
Motion command
response
INTERPOLATE
EX_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 EX_POSING
operation
The accel/decel filter for
EX_POSING command will be
cancelled.
EX_POSING
Cancelled
EX_POSING
operation
EX_POSING FEED
EX_POSING 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.
FEED
Motion command
Motion command
response