Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 277)

7.2 Motions After Switching Motion Commands
7.2.1 Switching from POSING
7-7
Switching Commands during Execution
POSING
INTERPOLATE
POSING 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
the first high-speed scan after the INTERPOLATE command execution starts.
Do not change the Position Reference Setting unless it is absolutely neces-
sary.
ENDOF_INTER
POLATE
Same as INTERPOLATE
LATCH Same as INTERPOLATE
FEED
POSING will immediately switch to FEED, and the moving amount stored in the acceler-
ation/deceleration filter will be maintained.
STEP
POSING will switch to STEP when the axis stops after deceleration.
Switched From Switched To Operation
POSING
Cancelled
POSING operation
POSING INTERPOLATE
POSING INTERPOLATE
INTERPOLATE
Motion command
Motion command
response
Cancelled
POSING operation
POSING
POSING FEED
POSING FEED
FEED
The speed will smoothly change.
(The speed at the time the motion com-
mand is switched will increase/decrease
until it reaches the target speed of FEED.)
The acceleration/deceleration filter will
remain valid.
Motion command
Motion command
response
Cancelled
POSING operation
POSING
POSING STEP
POSING STEP
STEP
STEP moving
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Motion command
Motion command
response