Yaskawa JAPMC-MC2300 - Manual (Page 266)

8.1 Switchable Motion Commands
8.1.12 Switching from PHASE
8-39
8
Switching Commands during Execution
PHASE
FEED
(cont’d)
(2) When Not Using the Accel/Decel Filter for FEED Command
STEP
PHASE will immediately switch to STEP, and the control mode will be changed from
phase control mode to position control mode.
STEP switched from PHASE 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
Switched From Switched To Operation
PHASE Motion command
Motion command
response
FEED
PHASE FEED
Phase control mode Position control mode
PHASE FEED
The speed will smoothly change.
The speed at the time the motion command is
switched will increase/decrease until it reaches
the FEED target speed.
The accel/decel filter will be cancelled.
Distribution will start from the
state SPEED = 0 since the accel/
decel filter is empty.
PHASE Motion command
Motion command
response
STEP
PHASE STEP
Phase control mode Position control mode
PHASE STEP
PHASE Motion command
Motion command
response
STEP
PHASE STEP
Phase control mode Position control mode
PHASE STEP
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.
The accel/decel filter will be cancelled.