Yaskawa JAPMC-MC2300 - Manual (Page 254)

8.1 Switchable Motion Commands
8.1.10 Switching from VELO
8-27
8
Switching Commands during Execution
VELO
INTERPOLATE
VELO will switch to INTERPOLATE when the axis stops after deceleration, and the con-
trol mode will be changed from speed control mode to position control mode after the axis
deceleration is completed.
1C) during Deceleration>
• In Incremental Addition Mode (OW 09, bit 5 = 0)
Any change in the Position Reference Setting (OL 1C) will be ignored.
• In Absolute Mode (OW 09, bit 5 = 1)
The change in Position Reference Setting (OL 1C) will be output as soon as the first
high-speed scan after INTERPOLATE execution starts.
Do not change the Position Reference Setting during deceleration unless it is
absolutely necessary.
ENDOF_INTER
POLATE
Same as INTERPOLATE
LATCH Same as INTERPOLATE
FEED
VELO will immediately switch to FEED, 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.
FEED switched from VELO starts its operation with the empty accel/decel fil-
ter. Therefore, when the accel/decel filter is set for FEED 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 FEED command (see (2).)
(1) When Using the Accel/Decel Filter for FEED Command
(2) When Not Using the Accel/Decel Filter for FEED Command
Switched From Switched To Operation
VELO
VELO INTERPOLATE
VELO INTERPOLATE
INTERPOLATE
Motion command
Motion command
response
Speed control mode Position control mode
Speed control mode Position control mode
VELO
VELO Motion command
Motion command
response
FEED
VELO FEED
FEED
Distribution will start from the
state Speed = 0 since the accel/
decel filter is empty.
VELO
VELO Motion command
Motion command
response
FEED
VELO FEED
FEED
Speed control mode Position control mode
The speed will smoothly change.
The speed at the time the motion command is
switched will increase/decrease until it reaches
the FEED target speed.