Yaskawa JAPMC-MC2300 - Manual (Page 244)

8.1 Switchable Motion Commands
8.1.7 Switching from FEED
8-17
8
Switching Commands during Execution
8.1.7 Switching from FEED
Switched From Switched To Operation
FEED
NOP
FEED will switch to NOP when the axis stops after deceleration.
POSING
FEED 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
FEED will immediately switch to EX_POSING, and the moving amount stored in the
accel/decel 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
FEED
FEED NOP
FEED NOP
Motion command
Motion command
response
FEED
FEED Motion command
Motion command
response
POSING
FEED 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.
POSING
FEED
FEED Motion command
Motion command
response
EX_POSING
FEED EX_POSING
The speed will smoothly change.
The speed at the time the motion
command is switched will increase/
decrease until it reaches the EX_POSING
target speed.
The accel/decel filter will remain valid.
EX_POSING