Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 289)

7.2 Motions After Switching Motion Commands
7.2.4 Switching from INTERPOLATE
7-19
Switching Commands during Execution
INTERPOLATE
ZSET
INTERPOLATE will immediately switch to ZSET, and the moving amount stored in the
acceleration/deceleration filter will be output.
In actual operation, set the zero point by executing ZSET in the positioning
completed status.
VELO
INTERPOLATE will immediately switch to VELO, and the control mode will change
from position control mode to speed control mode.
The moving amount stored in the acceleration/deceleration filter will be reset to 0.
After INTERPOLATE has switched to VELO, the VELO command will be exe-
cuted without the acceleration/deceleration filter. To enable the acceleration/
deceleration filter, hold the INTERPOLATE operation by executing an NOP
command or other commands. Then, when the Discharging Completed bit
(IW
0C, bit 0) turns ON, execute the VELO command.
TRQ
INTERPOLATE will immediately switch to TRQ, and the control mode will change from
position control mode to torque control mode.
The moving amount stored in the acceleration/deceleration filter will be reset to 0.
After INTERPOLATE has switched to TRQ, the TRQ command will be exe-
cuted without the acceleration/deceleration filter. This is because TRQ is a
motion command for which the acceleration/deceleration filter is disabled.
Switched From Switched To Operation
INTERPOLATE
The amount stored in the
acceleration/deceleration
filter will be output.
INTERPOLATE ZSET
INTERPOLATE ZSET
Motion command
Motion command
response
INTERPOLATE
INTERPOLATE VELO
INTERPOLATE VELO
Position control mode Speed control mode
VELO
The speed will smoothly change.
(The speed at the time the motion com-
mand is switched will increase/decrease
until it reaches the target speed of VELO.)
The acceleration/deceleration filter will be
cancelled.
Motion command
Motion command
response
INTERPOLATE
INTERPOLATE TRQ
INTERPOLATE TRQ
Position control mode Torque control mode
TRQ
The reference value of the TRQ command
will be output as it is regardless of the speed
when the motion command is switched.
Motion command
Motion command
response