Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 299)

7.2 Motions After Switching Motion Commands
7.2.9 Switching from VELO
7-29
Switching Commands during Execution
7.2.9 Switching from VELO
Switched From Switched To Operation
VELO
NOP
VELO will switch to NOP when the axis stops after deceleration, and the control mode
will change from speed control mode to position control mode.
POSING
VELO will immediately switch to POSING, and the control mode will change from speed
control mode to position control mode. The moving amount stored in the acceleration/
deceleration filter will be reset to 0.
After VELO has switched to POSING, the POSING command will be executed
without the acceleration/deceleration filter. To enable the acceleration/decel-
eration filter, hold the VELO operation by executing an NOP command or
other commands. Then, when the Discharging Completed bit (IW
0C, bit
0) turns ON, execute a POSING command.
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
VELO
VELO NOP
VELO NOP
Motion command
Motion command
response
Speed control mode Position control mode
VELO
VELO POSING
VELO POSING
POSING
The speed will smoothly change.
(The speed at the time the motion command
is switched will increase/decrease until it
reaches the target speed of POSING.)
The acceleration/deceleration filter will
be cancelled.
Motion command
Motion command
response
Speed control mode Position control mode