Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 300)

7.2 Motions After Switching Motion Commands
7.2.9 Switching from VELO
7-30
VELO
EX_POSING
VELO will immediately switch to EX_POSING, and the control mode will change from
speed control mode to position control mode. The moving amount stored in the accelera-
tion/deceleration filter will be reset to 0.
After VELO has switched to EX_POSING, the EX_POSING command will be
executed without the acceleration/deceleration filter. To enable the accelera-
tion/deceleration filter, hold the VELO operation by executing an NOP com-
mand or other commands. Then, when the Discharging Completed bit
(IW
0C, bit 0) turns ON, execute an EX_POSING command.
The value of the 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
ZRET
VELO will switch to ZRET when the axis stops after deceleration, and the control mode
will change from speed control mode to position control mode.
Switched From Switched To Operation
VELO
VELO EX_POSING
VELO EX_POSING
EX_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
EX_POSING.)
The acceleration/deceleration filter will
be cancelled.
Speed control mode Position control mode
Motion command
Motion command
response
VELO
VELO ZRET
VELO ZRET
Speed control mode Position control mode
ZRET
Motion command
Motion command
response