Yaskawa JAPMC-MC2300 - Manual (Page 241)

8.1 Switchable Motion Commands
8.1.5 Switching from INTERPOLATE
8-14
INTERPOLATE
ENDOF_INTER
POLATE
INTERPOLATE will immediately switch to ENDOF_INTERPOLATE, and the moving
amount stored in the accel/decel filter will be maintained.
LATCH Same as ENDOF_INTERPOLATE
FEED
INTERPOLATE will immediately switch to FEED, and the moving amount stored in the
accel/decel filter will be maintained.
STEP
INTERPOLATE will immediately switch to STEP, and the moving amount stored in the
accel/decel filter will be maintained.
Switched From Switched To Operation
INTERPOLATE
INTERPOLATE ENDOF_INTERPOLATE
INTERPOLATE ENDOF_INTERPOLATE
ENDOF_
INTERPOLATE
The reference value of the
ENDOF_INTERPOLATE command will be
output as it is regardless of the speed at the
time the motion command is switched to
ENDOF_INTERPOLATE.
The accel/decel filter will remain valid.
Motion command
Motion command
response
INTERPOLATE
INTERPOLATE FEED
INTERPOLATE FEED
FEED
The speed will smoothly change.
The speed at the time the motion com-
mand is switched will increase/decrease
until it reaches the FEED target speed.
The accel/decel filter will remain valid.
Motion command
Motion command
response
INTERPOLATE
INTERPOLATE STEP
INTERPOLATE STEP
STEP
The speed will smoothly change.
The speed at the time the motion com-
mand is switched will increase/decrease
until it reaches the STEP target speed.
The accel/decel filter will remain valid.
STEP moving
amount
Motion command
Motion command
response