Transition between motion modes – Yaskawa FSP Amplifier FlexWorks User Manual
Page 106
Command Reference
106
Transition Between Motion Modes
When motion commands that function under different motion
modes are issued consecutively, in some cases the motor will first
be stopped, at the Profile_acceleration, and only then will the
second motion commence. In other cases, the second motion will
continue continuously after the first, without stopping in between.
The table below specifies the type of transition between each pair
of motion modes:
C - Continuous transition without stopping.
S - The motor will first decelerate to a complete stop according to
Profile_acceleration before performing the new motion. The
command smoothing set by Pn216 will not be applied to the
deceleration.
Table 16: Nature of Transition Between Motion Modes
(0)
(1)
(3)
(4)
(6)
(-7)
(-5)
(-4)
(-3)
(-2)
(-1)
Sp
eed
mo
d
e
Profile
pos
ition
Profile Velocity.
Profile
Torque
.
Homing.
ECAM
Ana
log torque
Analog Speed
Pulse train
Auto-tuning
Hunting
Speed mode
(0)
C
S S C
S S C
S S S S
Profile position
(1)
S
C
C
C
S S C
C
S S C
Profile Velocity.
(3)
S S C
C
S S C
C
S S C
Profile Torque.
(4)
S S S C
S S C
S S S S
Homing
(6)
S S S S C
S S S S S S
ECAM
(-7)
S S S S S C
S S S S S
Analog torque
(-5)
S S S C
S S C
S S S S
Analog Speed
(-4)
S S C
C
S S C
C
S S C
Pulse train
(-3)
S S C
C
S S C
C
C
S
C
Auto-tuning
(-2)
S S S S S S S S S C
S
Hunting
(-1)
S S C
C
S S C
C
S S C