Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 309)

7.2 Motions After Switching Motion Commands
7.2.11 Switching from PHASE
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Switching Commands during Execution
7.2.11 Switching from PHASE
Switched From Switched To Operation
PHASE
NOP
PHASE will immediately switch to NOP, and the moving amount stored in the accelera-
tion/deceleration filter will be output.
POSING
PHASE will immediately switch to POSING, and the control mode will change from
phase control mode to position control mode.
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
PHASE NOP
PHASE NOP
Phase control mode Position control mode
PHASE
The amount stored in the
acceleration/deceleration
filter will be output.
Motion command
Motion command
response
PHASE POSING
PHASE POSING
Phase control mode Position control mode
PHASE 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.)
Motion command
Motion command
response