Yaskawa JAPMC-MC2300 User Manual
Page 253
8.1 Switchable Motion Commands
8.1.10 Switching from VELO
8-26
VELO
EX_POSING
VELO will immediately switch to EX_POSING, and the control mode will be changed
from speed control mode to position control mode. The moving amount stored in the
accel/decel filter will be reset to 0.
The value of the Position Reference Setting (OL
1C) when the motion command is
switched will be as follows.
09, bit 5 = 0)> Incremental value = Target position − IL 14 (DPOS) OL 1C = OL 1C+ Incremental value 09, bit 5 = 1)> OL 1C = Target position EX_POSING switched from VELO starts its operation with the empty accel/ (1) When Using the Accel/Decel Filter for EX_POSING Command (2) When Not Using the Accel/Decel Filter for EX_POSING Command ZRET VELO will switch to ZRET when the axis stops after deceleration, and the control mode Switched From Switched To Operation Speed control mode Position control mode VELO VELO Motion command response EX_POSING VELO EX_POSING Distribution will start from the state Speed = 0 since the accel/decel filter is empty. EX_POSING VELO VELO Motion command response EX_POSING VELO EX_POSING EX_POSING The speed will smoothly change. The speed at the time the motion command is switched will increase/ decrease until it reaches the EX_POSING target speed. Speed control mode Position control mode VELO VELO ZRET VELO ZRET Speed control mode Position control mode ZRET Motion command response
decel filter. Therefore, when the accel/decel filter is set for EX_POSING com-
mand, 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 EX_POSING command (see (2).)
will be changed from speed control mode to position control mode.
Motion command
Motion command
Motion command