Yaskawa JAPMC-MC2300 - Manual (Page 248)

8.1 Switchable Motion Commands
8.1.8 Switching from STEP
8-21
8
Switching Commands during Execution
8.1.8 Switching from STEP
Switched From Switched To Operation
STEP
NOP
STEP will switch to NOP when the axis stops after deceleration.
POSING
STEP 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
STEP will immediately switch to EX_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
STEP
STEP NOP
STEP NOP
Motion command
Motion command
response
STEP
STEP POSING
STEP 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
Motion command
Motion command
response
STEP
STEP EX_POSING
STEP EX_POSING
The speed will smoothly change.
The speed at the time the motion com-
mand is switched will increase/decrease
until it reaches the EX_POSING target
speed.
The accel/decel filter will remain valid.
EX_POSING
Motion command
Motion command
response