Yaskawa JAPMC-MC2300 - Manual (Page 255)

8.1 Switchable Motion Commands
8.1.10 Switching from VELO
8-28
VELO
STEP
VELO will immediately switch to STEP, 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.
STEP switched from VELO starts its operation with the empty accel/decel fil-
ter. Therefore, when the accel/decel filter is set for STEP 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 STEP command (see (2).)
(1) When Using the Accel/Decel Filter for STEP Command
(2) When Not Using the Accel/Decel Filter for STEP Command
ZSET
VELO will switch to ZSET when the axis stops after deceleration.
VELO VELO operation will continue.
Switched From Switched To Operation
Speed control mode Position control mode
VELO
VELO Motion command
Motion command
response
STEP
VELO STEP
STEP
Distribution will start from
the state Speed = 0 since
the accel/decel filter is empty.
VELO
VELO Motion command
Motion command
response
STEP
VELO STEP
STEP
Speed control mode Position control mode
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.
VELO
VELO ZSET
VELO ZSET
Motion command
Motion command
response
Speed control mode Position control mode
A machine coordinate
system will be established
on the base of the position
where the axis stops after
deceleration.