Yaskawa JAPMC-MC2300 - Manual (Page 267)

8.1 Switchable Motion Commands
8.1.12 Switching from PHASE
8-40
PHASE
ZSET
The axis will decelerate to a stop in speed control mode, and the control mode will be
changed from speed control mode to position control mode when the axis stops.
PHASE will switch to ZSET when the axis stops after deceleration.
VELO
PHASE will immediately switch to VELO, and the control mode will be changed from
phase control mode to speed control mode.
VELO switched from PHASE 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
PHASE
PHASE Motion command
Motion command
response
ZSET
PHASE ZSET
Phase control mode Position control mode
Speed control mode
A machine coordinate
system will be established
on the base of the position
where the axis stops after
deceleration.
In speed control mode, the axis will
decelerate to a stop from the speed when
the motion command is switched.
Distribution will start from the state
Speed = 0 since the accel/decel
filter is empty.
PHASE Motion command
Motion command
response
VELO
PHASE VELO
Phase control mode Speed control mode
PHASE VELO
PHASE Motion command
Motion command
response
VELO
PHASE VELO
Phase control mode Speed control mode
PHASE 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 will be cancelled.