Yaskawa JAPMC-MC2300 - Manual (Page 236)

8.1 Switchable Motion Commands
8.1.3 Switching from EX_POSING
8-9
8
Switching Commands during Execution
EX_POSING
STEP
EX_POSING will immediately switch to STEP, and the moving amount stored in the
accel/decel filter will be maintained.
ZSET
EX_POSING will switch to ZSET when the axis stops after deceleration.
VELO
EX_POSING will immediately switch to VELO, and the control mode will be changed
from position control mode to speed control mode. The moving amount stored in the
accel/decel will be reset to 0.
VELO switched from EX_POSING starts its operation with the empty accel/
decel filter. Therefore, when the accel/decel filter is set for VELO 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 VELO command (see (2).) .
(1) When Using the Accel/Decel Filter for VELO Command
(2) When Not Using the Accel/Decel Filter for VELO Command
Switched From Switched To Operation
EX_POSING
EX_POSING Motion command
Motion command
response
STEP
EX_POSING STEP
STEP
The speed will smoothly change.
The speed at the time the motion command
is switched will increase/decrease until
it reaches the STEP target speed.
STEP moving
amount
Cancelled
EX_POSING
operation
EX_POSING
Cancelled
EX_POSING operation
EX_POSING Motion command
Motion command
response
ZSET
EX_POSING ZSET
A machine coordinate
system will be established
on the base of the position
where the axis stops after
deceleration.
Position control mode Speed control mode
EX_POSING
EX_POSING Motion command
Motion command
response
VELO
EX_POSING VELO
Distribution will start from the state Speed =
0 since the accel/decel filter is empty.
The accel/decel filter for EX_POSING command
will be cancelled.
VELO
Cancelled
EX_POSING
operation
EX_POSING
EX_POSING Motion command
Motion command
response
VELO
EX_POSING VELO
VELO
Position control mode Speed control mode
Cancelled
EX_POSING
operation
The speed will smoothly change.
The speed at the time the motion command is
switched will increase/decrease until it reaches
the VELO target speed.
The accel/decel filter for EX_POSING command
will be cancelled.