Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 302)

7.2 Motions After Switching Motion Commands
7.2.9 Switching from VELO
7-32
VELO
STEP
VELO will immediately switch to STEP, 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.
ZSET
ZSET command will be executed when the axis stops after deceleration.
VELO VELO operation will continue.
Switched From Switched To Operation
VELO
VELO STEP
VELO STEP
STEP
Speed control mode Position control mode
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 STEP.)
The acceleration/deceleration filter will
be cancelled.
STEP moving
amount
Motion command
Motion command
response
VELO
VELO ZSET
VELO ZSET
Motion command
Motion command
response
Speed control mode Position control mode
A machine coordinate
system will be constructed
where the axis stops after
deceleration.