Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 291)

7.2 Motions After Switching Motion Commands
7.2.6 Switching from FEED
7-21
Switching Commands during Execution
7.2.6 Switching from FEED
Switched From Switched To Operation
FEED
NOP
FEED will switch to NOP when the axis stops after deceleration.
POSING
<In Incremental Addition Mode (OW 09, bit 5 = 0)>
FEED will switch to POSING when the axis stops after deceleration.
Incremental value = Target position − IL 14 (DPOS)
OL 1C = OL 1C + Incremental value
Any change in the Position Reference Setting (OL 1C) during deceleration
will be ignored.
<In Absolute Mode (OW 09, bit 5 = 1)>
FEED will immediately switch to POSING, and the moving amount stored in the accelera-
tion/deceleration filter will be maintained.
The set value of Position Reference Setting (OL 1C) will be:
OL 1C = Target position
FEED
FEED NOP
FEED NOP
Motion command
Motion command
response
Cancelled FEED
operation
FEED
FEED POSING
FEED POSING
POSING
Motion command
Motion command
response
FEED
FEED POSING
FEED POSING
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
POSING.)
The acceleration/deceleration filter
will remain valid.
POSING
Motion command
Motion command
response