Yaskawa JAPMC-MC2300 - Manual (Page 252)

8.1 Switchable Motion Commands
8.1.10 Switching from VELO
8-25
8
Switching Commands during Execution
8.1.10 Switching from VELO
Switched From Switched To Operation
VELO
NOP
VELO will switch to NOP when the axis stops after deceleration, and the control mode
will be changed from speed control mode to position control mode.
POSING
VELO will immediately switch to POSING, and the control mode will be changed from
speed control mode to position control mode. The moving amount stored in the accel/
decel filter will be reset to 0.
The value of the 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
POSING switched from VELO starts its operation with the empty accel/decel
filter. Therefore, when the accel/decel filter is set for POSING 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 POSING command (see (2).)
(1) When Using the Accel/Decel Filter for POSING Command
(2) When Not Using the Accel/Decel Filter for POSING Command
VELO
VELO NOP
VELO NOP
Motion command
Motion command
response
Speed control mode Position control mode
Speed control mode Position control mode
VELO
VELO Motion command
Motion command
response
POSING
VELO POSING
POSING
Distribution will start
from the state Speed = 0
since the accel/decel
filter is empty.
VELO
VELO Motion command
Motion command
response
POSING
VELO POSING
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.
Speed control mode Position control mode