Yaskawa JAPMC-MC2300 - Manual (Page 250)

8.1 Switchable Motion Commands
8.1.8 Switching from STEP
8-23
8
Switching Commands during Execution
STEP
FEED
STEP will immediately switch to FEED, and the moving amount stored in the accel/decel
filter will be maintained.
STEP STEP operation will continue.
ZSET
STEP will switch to ZSET when the axis stops after deceleration.
VELO
STEP 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 STEP 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
(2) When Not Using the Accel/Decel Filter for VELO Command
Switched From Switched To Operation
STEP
STEP FEED
STEP FEED
The speed will smoothly change.
The speed at the time the motion com-
mand is switched will increase/decrease
until it reaches the FEED target speed.
The accel/decel filter will remain valid.
FEED
Motion command
Motion command
response
STEP
STEP Motion command
Motion command
response
ZSET
STEP ZSET
A machine coordinate system will
be established on the base of
the position where the axis stops
after decelefation.
Position control mode Speed control mode
STEP
STEP Motion command
Motion command
response
VELO
STEP VELO
Distribution will start
from the state Speed = 0
since the accel/decel
filter is empty.
VELO
Cancelled STEP operation
The accel/decel filter for
STEP command will be
cancelled.
STEP
STEP Motion command
Motion command
response
VELO
STEP VELO
VELO
Position control mode Speed control mode
Cancelled STEP operation
The accel/decel filter for
STEP command will be
cancelled.
The speed will smoothly change.
The speed at the time the motion command
is switched will increase/decrease until it
reaches the VELO target speed.