Yaskawa JAPMC-MC2300 User Manual
Page 245

8.1 Switchable Motion Commands
8.1.7 Switching from FEED
8-18
FEED
ZRET
FEED will switch to ZRET when the axis stops after deceleration.
INTERPOLATE
FEED will immediately switch to INTERPOLATE, and the moving amount stored in the
accel/decel 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 1C = OL 1C + Incremental value 09, bit 5 = 1)> OL 1C = IL 14 (DPOS) + Position incremental value per high-speed scan INTERPOLATE switched from FEED starts its operation with the empty accel/ (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 FEED operation will continue. Switched From Switched To Operation FEED FEED Motion command response ZRET FEED ZRET ZRET INTERPOLATE FEED FEED Motion command response INTERPOLATE FEED INTERPOLATE Distribiution will start from the state Speed = 0 since the accel/decel filter is empty. The accel/decel filter for FEED command will be cancelled. INTERPOLATE FEED FEED Motion command response INTERPOLATE FEED 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. The accel/decel filter for FEED command will be cancelled.
OL
decel filter. Therefore, when the accel/decel filter is set for INTERPOLATE
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).) .
Motion command
Motion command
Motion command