Yaskawa JAPMC-MC2300 - Manual (Page 246)

8.1 Switchable Motion Commands
8.1.7 Switching from FEED
8-19
8
Switching Commands during Execution
FEED
STEP
FEED will immediately switch to STEP, and the moving amount stored in the accel/decel
filter will be maintained.
ZSET
FEED will switch to ZSET when the axis stops after deceleration.
VELO
FEED will immediately switch to VELO, and the control mode will be changed from posi-
tion control mode to speed control mode.
The moving amount stored in the accel/decel filter will be reset to 0.
VELO switched from FEED starts its operation with the empty accel/decel fil-
ter. 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
FEED
FEED Motion command
Motion command
response
STEP
FEED 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
FEED
FEED Motion command
Motion command
response
ZSET
FEED 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
FEED
FEED Motion command
Motion command
response
VELO
FEED VELO
Distribution will start from the state Speed = 0
since the accel/decel filter is empty.
The accel/decel filter for FEED command will be
cancelled.
VELO