Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 287)

7.2 Motions After Switching Motion Commands
7.2.4 Switching from INTERPOLATE
7-17
Switching Commands during Execution
7.2.4 Switching from INTERPOLATE
Switched From Switched To Operation
INTERPOLATE
NOP
INTERPOLATE will immediately switch to NOP, and the moving amount stored in the
acceleration/deceleration filter will be output.
POSING
INTERPOLATE will immediately switch to POSING, and the moving amount stored in
the acceleration/deceleration filter will be maintained.
The value of 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
INTERPOLATE will immediately switch to EX_POSING, and the amount of motion
stored in the acceleration/deceleration filter will be output.
When execution of EX_POSING is started, values are written to the related servo parame-
ters and then the positioning operation starts.
The value of 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
INTERPOLATE
The amount stored in the
acceleration/deceleration
filter will be output.
INTERPOLATE NOP
INTERPOLATE NOP
Motion command
Motion command
response
INTERPOLATE
INTERPOLATE POSING
INTERPOLATE POSING
POSING
The speed will smoothly change.
(The speed at the time the motion command
is switched will increase/decrease until it
reaches the target speed of POSING.)
The acceleration/deceleration filter will
remain valid.
Motion command
Motion command
response
INTERPOLATE
Commands are held because the values
of the parameters relating to external
positioning are changed.
INTERPOLATE EX_POSING
INTERPOLATE EX_POSING
EX_POSING
Motion command
Motion command
response