Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 288)

7.2 Motions After Switching Motion Commands
7.2.4 Switching from INTERPOLATE
7-18
INTERPOLATE
ZRET
INTERPOLATE will immediately switch to ZRET, and the amount of motion stored in the
acceleration/deceleration filter will be output.
When execution of ZRET is started, values are written to the related servo parameters and
then the zero return operation starts.
INTERPOLATE INTERPOLATE operation will continue.
ENDOF_INTER
POLATE
INTERPOLATE will immediately switch to ENDOF_INTERPOLATE, and the moving
amount stored in the acceleration/deceleration filter will be maintained.
LATCH Same as ENDOF_INTERPOLATE
FEED
INTERPOLATE will immediately switch to FEED, and the moving amount stored in the
acceleration/deceleration filter will be maintained.
STEP
INTERPOLATE will immediately switch to STEP, and the moving amount stored in the
acceleration/deceleration filter will be maintained.
Switched From Switched To Operation
INTERPOLATE
Commands are held because the values
of the parameters relating to zero point
return are changed.
INTERPOLATE ZRET
INTERPOLATE ZRET
ZRET
Motion command
Motion command
response
INTERPOLATE
INTERPOLATE ENDOF_INTERPOLATE
INTERPOLATE ENDOF_INTERPOLATE
ENDOF_
INTERPOLATE
The reference value of the
ENDOF_INTERPOLATE command will be
distributed regardless of the speed when the
motion command is switched.
The acceleration/deceleration filter will
remain valid.
Motion command
Motion command
response
INTERPOLATE
INTERPOLATE FEED
INTERPOLATE 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
INTERPOLATE
INTERPOLATE STEP
INTERPOLATE STEP
STEP
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 STEP.)
The acceleration/deceleration filter will
remain valid.
STEP moving
amount
Motion command
Motion command
response