Yaskawa JAPMC-MC2300 - Manual (Page 245)

8.1 Switchable Motion Commands
8.1.7 Switching from FEED
8-18
FEED
ZRET
FEED will switch to ZRET when the axis stops after deceleration.
INTERPOLATE
FEED will immediately switch to INTERPOLATE, and the moving amount stored in the
accel/decel will be reset to 0.
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 = Position incremental value per high-speed scan
OL
1C = OL 1C + Incremental value
<In Absolute Mode (OW 09, bit 5 = 1)>
OL 1C = IL 14 (DPOS) + Position incremental value per high-speed scan
INTERPOLATE switched from FEED starts its operation with the empty accel/
decel filter. Therefore, when the accel/decel filter is set for INTERPOLATE
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 INTERPOLATE command (see (2).) .
(1) When Using the Accel/Decel Filter for INTERPOLATE Command
(2) When Not Using the Accel/Decel Filter for INTERPOLATE Command
ENDOF_INTER
POLATE
Same as INTERPOLATE
LATCH Same as INTERPOLATE
FEED FEED operation will continue.
Switched From Switched To Operation
FEED
FEED Motion command
Motion command
response
ZRET
FEED ZRET
ZRET
INTERPOLATE FEED
FEED Motion command
Motion command
response
INTERPOLATE
FEED INTERPOLATE
Distribiution will start from the state Speed = 0
since the accel/decel filter is empty.
The accel/decel filter for FEED command will be
cancelled.
INTERPOLATE FEED
FEED Motion command
Motion command
response
INTERPOLATE
FEED INTERPOLATE
The reference value of INTERPOLATE command will be
output as it is regardless of the speed at the time the motion
command is switched to INTERPOLATE.
The accel/decel filter for FEED command will be cancelled.