Yaskawa JAPMC-MC2300 - Manual (Page 263)

8.1 Switchable Motion Commands
8.1.12 Switching from PHASE
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8.1.12 Switching from PHASE
Switched From Switched To Operation
PHASE
NOP
The axis will decelerate to a stop in speed control mode, and the control mode will be
changed from speed control mode to position control mode when the axis stops.
PHASE will switch to NOP when the axis stops after deceleration.
POSING
PHASE will immediately switch to POSING, and the control mode will be changed from
phase 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 PHASE 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
PHASE
PHASE Motion command
Motion command
response
NOP
PHASE NOP
Phase control mode Position control mode
Speed control mode
In speed control mode, the axis will
decelerate to a stop from the speed when
the motion command is switched.
Distribution will start from the state Speed = 0
since the accel/decel filter is empty.
PHASE Motion command
Motion command
response
POSING
PHASE POSING
Phase control mode Position control mode
PHASE POSING
PHASE Motion command
Motion command
response
POSING
PHASE POSING
Phase control mode Position control mode
PHASE 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 be cancelled.