Yaskawa JAPMC-MC2300 - Manual (Page 232)

8.1 Switchable Motion Commands
8.1.2 Switching from POSING
8-5
8
Switching Commands during Execution
POSING
STEP
POSING will immediately switch to STEP, and the moving amount stored in the accel/
decel filter will be maintained.
ZSET
POSING will switch to ZSET when the axis stops after deceleration.
VELO
POSING will immediately switch to VELO and the control mode will be changed from
position control mode to speed control mode. The moving amount stored in the accel/
decel filter will be reset to 0.
VELO switched from POSING starts its operation with the empty accel/decel
filter. Therefore, when the accel/decel filter is set for VELO command, the
speed will not smoothly change, and the distribution will be started from the
state Speed = 0 (see (1).) To change the speed smoothly, do not set the filter
for VELO command (see (2).)
(1) When Using the Accel/Decel Filter for VELO Command
Switched From Switched To Operation
POSING
POSING Motion command
Motion command
response
STEP
POSING STEP
STEP
The speed will smoothly change.
The speed at the time the motion
command is switched will increase/
decrease until it reaches the STEP target
speed.
The accel/decel filter will remain valid.
STEP moving
amount
Cancelled
POSING operation
POSING
Cancelled
POSING operation
POSING Motion command
Motion command
response
ZSET
POSING ZSET
A machine coordinate
system will be established
on the base of the position
where the axis stops
after deceleration
Position control mode Speed control mode
POSING
POSING Motion command
Motion command
response
VELO
POSING VELO
Distribution will start from
the state Speed = 0 since
the accel/decel filter is
empty.
VELO
Cancelled POSING
operation
The accel/decel filter for
POSING command will be
cancelled.