Yaskawa JAPMC-MC2300 - Manual (Page 249)

8.1 Switchable Motion Commands
8.1.8 Switching from STEP
8-22
STEP
ZRET
STEP will switch to ZRET when the axis stops after deceleration.
INTERPOLATE
STEP will immediately switch to INTERPOLATE, and the moving amount stored in the
accel/decel filter 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 for INTERPOLATE
Switched From Switched To Operation
STEP
STEP Motion command
Motion command
response
ZRET
STEP ZRET
ZRET
INTERPOLATE STEP
STEP Motion command
Motion command
response
INTERPOLATE
STEP INTERPOLATE
Distribution will start
from the state Speed = 0
since the accel/decel
filter is empty.
Cancelled STEP operation
The accel/decel filter for
STEP command will be
cancelled.
INTERPOLATE STEP
STEP Motion command
Motion command
response
INTERPOLATE
STEP 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.
Cancelled STEP
operation
The accel/decel filter for
STEP command will be
cancelled.