Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module User Manual
Page 277
7.2 Motions After Switching Motion Commands
7.2.1 Switching from POSING
7-7
Switching Commands during Execution
POSING
INTERPOLATE
POSING will switch to INTERPOLATE when the axis stops after deceleration.
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 the Position Reference Setting (OL 1C) will be output as soon as the the first high-speed scan after the INTERPOLATE command execution starts. Do not change the Position Reference Setting unless it is absolutely neces- ENDOF_INTER POLATE Same as INTERPOLATE LATCH Same as INTERPOLATE FEED POSING will immediately switch to FEED, and the moving amount stored in the acceler- STEP POSING will switch to STEP when the axis stops after deceleration. Switched From Switched To Operation POSING Cancelled POSING operation POSING INTERPOLATE POSING INTERPOLATE INTERPOLATE Motion command Motion command response Cancelled POSING POSING FEED POSING FEED FEED The speed will smoothly change. The acceleration/deceleration filter will Motion command Motion command Cancelled POSING operation POSING POSING STEP POSING STEP STEP STEP moving amountޓޓ Motion command response
sary.
ation/deceleration filter will be maintained.
POSING operation
(The speed at the time the motion com-
mand is switched will increase/decrease
until it reaches the target speed of FEED.)
remain valid.
response
Motion command