Yaskawa JAPMC-MC2300 - Manual (Page 242)

8.1 Switchable Motion Commands
8.1.5 Switching from INTERPOLATE
8-15
8
Switching Commands during Execution
INTERPOLATE
ZSET
INTERPOLATE will immediately switch to ZSET, and the moving amount stored in the
accel/decel filter will be reset to 0.
VELO
INTERPOLATE 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 filter will be reset to 0.
VELO switched from INTERPOLATE 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
INTERPOLATE
INTERPOLATE Motion command
Motion command
response
ZSET
INTERPOLATE ZSET
The distribution of moving amount
stored in the accel/decel filter
will be cancelled.
A machine coordinate system
will be established on the base
of the position where the axis
stops after deceleration.
INTERPOLATE
INTERPOLATE Motion command
Motion command
response
VELO
INTERPOLATE VELO
Position control mode Speed control mode
VELO
Distribution will start from
the state Speed = 0 since
the accel/decel filter is empty.
The distribution of
moving amount stored in
the accel/decel filter
will be cancelled.
INTERPOLATE
INTERPOLATE Motion command
Motion command
response
VELO
INTERPOLATE VELO
Position control mode Speed control mode
VELO
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 INTERPOLATE command will be cancelled.