Yaskawa JAPMC-MC2300 - Manual (Page 264)

8.1 Switchable Motion Commands
8.1.12 Switching from PHASE
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Switching Commands during Execution
PHASE
EX_POSING
PHASE will immediately switch to EX_POSING, and the control mode will be changed
from phase control mode to position control mode.
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
EX_POSING switched from PHASE starts its operation with the empty accel/
decel filter. Therefore, when the accel/decel filter is set for EX_POSING com-
mand, 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 EX_POSING command (see (2).)
(1) When Using the Accel/Decel Filter for EX_POSING Command
(2) When Not Using the Accel/Decel Filter for EX_POSING Command
ZRET
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 ZRET when the axis stops after deceleration.
Switched From Switched To Operation
Distribution will start from the
state SPEED = 0 since the accel/
decel filter is empty.
PHASE Motion command
Motion command
response
EX_POSING
PHASE EX_POSING
Phase control mode Position control mode
PHASE EX_POSING
PHASE Motion command
Motion command
response
EX_POSING
PHASE EX_POSING
Phase control mode Position control mode
PHASE EX_POSING
The speed will smoothly change.
The speed at the time the motion command is switched
will increase/decrease until it reaches the EX_POSING
target speed.
The accel/decel filter will be cancelled.
PHASE
PHASE Motion command
Motion command
response
ZRET
PHASE ZRET
Phase control mode Position control mode
ZRET
In speed mode, the axis will decelerate
to a stop from the speed when the
motion command is switched.
Speed control mode