Yaskawa JAPMC-MC2300 - Manual (Page 265)

8.1 Switchable Motion Commands
8.1.12 Switching from PHASE
8-38
PHASE
INTERPOLATE
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 INTERPOLATE when the axis stops after deceleration.
<Change in Position Reference Setting (OL 1C) during Deceleration>
• In Incremental Addition Mode (OW 09, bit 5 = 0)
Any change in the Position Reference Setting (OL 1C) will be ignored.
• In Absolute Mode (OW 09, bit 5 = 1)
The change in the Position Reference Setting (OL 1C) will be output as soon as the
first high-speed scan after INTERPOLATE execution starts.
Do not change the Position Reference Setting during deceleration unless it is
absolutely necessary.
ENDOF_INTER
POLATE
Same as INTERPOLATE
LATCH Same as INTERPOLATE
FEED
PHASE will immediately switch to FEED, and the control mode will be changed from
phase control mode to position control mode.
FEED switched from PHASE starts its operation with the empty accel/decel
filter. Therefore, when the accel/decel filter is set for FEED 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 FEED command (see (2).)
(1) When Using the Accel/Decel Filter for FEED Command
Switched From Switched To Operation
PHASE
PHASE Motion command
Motion command
response
INTERPOLATE
PHASE INTERPOLATE
Phase control mode Position control mode
In speed control mode, the axis will
decelerate to a stop from the speed when
the motion command is switched.
INTERPOLATE
Speed control mode
Distribution will start from the state Speed = 0
since the accel/decel filter is empty.
PHASE Motion command
Motion command
response
FEED
PHASE FEED
Phase control mode Position control mode
PHASE FEED