Yaskawa JAPMC-MC2300 - Manual (Page 240)

8.1 Switchable Motion Commands
8.1.5 Switching from INTERPOLATE
8-13
8
Switching Commands during Execution
8.1.5 Switching from INTERPOLATE
Switched From Switched To Operation
INTERPOLATE
NOP
INTERPOLATE will immediately switch to NOP, and the moving amount stored in the
accel/decel filter will be maintained.
POSING
INTERPOLATE will immediately switch to POSING, and the moving amount stored in
the accel/decel filter will be maintained.
The value of Position Reference Setting (OL 1C) when the motion command is
switched will be as follows.
<In Incremental Addition Mode (OW 09, bit 5 = 0)>
Incremental value = Target position − IL 14 (DPOS)
OL 1C = OL 1C+ Incremental value
<In Absolute Mode (OW 09, bit 5 = 1)>
OL 1C = Target position
EX_POSING Same as POSING
ZRET
INTERPOLATE will immediately switch to ZRET and the moving amount stored in the
accel/decel filter will be reset to 0.
INTERPOLATE INTERPOLATE operation will continue.
INTERPOLATE
The amount stored in the
accel/decel filter will be
output.
INTERPOLATE NOP
INTERPOLATE NOP
Motion command
Motion command
response
INTERPOLATE
INTERPOLATE POSING
INTERPOLATE POSING
POSING
The speed will smoothly change.
The speed at the time the motion command
is switched will increase/decrease until it
reaches the POSING target speed.
The accel/decel filter will remain valid.
Motion command
Motion command
response
ZRET INTERPOLATE
INTERPOLATE Motion command
Motion command
response
ZRET
INTERPOLATE ZRET
The distribution of moving amount
stored in the accel/decel filter will
be cancelled.