Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 296)

7.2 Motions After Switching Motion Commands
7.2.7 Switching from STEP
7-26
STEP
ZRET
STEP will immediately switch to ZRET, and the moving amount stored in the accelera-
tion/deceleration filter will be maintained.
INTERPOLATE
STEP 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
first high-speed scan after INTERPOLATE execution starts.
Do not change the Position Reference Setting during deceleration unless it is
absolutely necessary.
ENDOF_INTER
POLATE
Same as INTERPOLATE
LATCH Same as for INTERPOLATE
FEED
STEP will immediately switch to FEED, and the moving amount stored in the accelera-
tion/deceleration filter will be maintained.
STEP STEP operation will continue.
Switched From Switched To Operation
STEP
Cancelled STEP
operation
STEP ZRET
STEP ZRET
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 ZRET.)
The acceleration/deceleration filter will
remain valid.
ZRET
Motion command
Motion command
response
STEP
Cancelled STEP
operation
STEP INTERPOLATE
STEP INTERPOLATE
INTERPOLATE
Motion command
Motion command
response
STEP
STEP FEED
STEP 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.
FEED
Motion command
Motion command
response