YASKAWA MP2000 Series User Manual page 230

8.1 Switchable Motion Commands
8.1.2 Switching from POSING
Switched From
POSING
8-4
Switched To
POSING will immediately switch to INTERPOLATE. The moving amount stored in the
accel/decel filter will be reset to 0.
The value of 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 = Position incremental value per high-speed scan
OL1C = OL1C + Incremental value
<In Absolute Mode (OW09, bit 5 = 1)>
OL1C = IL14 (DPOS) + Position incremental value per high-speed scan
 INTERPOLATE switched from POSING starts its operation with the empty
accel/decel filter. Therefore, when the accel/decel filter is set for INTERPO-
LATE command, the speed will not smoothly change, and the distribution will
be started from the state Speed = 0 (see (1).) To change the speed smoothly,
do not set the filter for INTERPOLATE command (see (2).)
(1) When Using the Accel/Decel Filter for INTERPOLATE Command
INTERPOLATE
Motion command
Motion command
response
(2) When Not Using the Accel/Decel Filter for INTERPOLATE Command
ENDOF_INTER
Same as INTERPOLATE
POLATE
LATCH Same as INTERPOLATE
POSING will immediately switch to FEED, and the moving amount stored in the accel/
decel filter will be maintained.
FEED
Motion command
Motion command
response
Operation
Distribution will start from
the state Speed = 0 since
the accel/decel filter is
empty.
POSING
POSING
POSING
The reference value of
INTERPOLATE command
will be output as it is
regardless of the speed at the
time the motion command is
switched to INTERPOLATE.
POSING
Motion command POSING
Motion command
POSING
response
The speed will smoothly change.
The speed at the time the motion com-
mand is switched will increase/decrease
until it reaches the FEED target speed.
The accel/decel filter will remain valid.
POSING
POSING
POSING
Cancelled POSING
operation.
The accel/decel filter for
POSING command will be
cancelled.
INTERPOLATE
INTERPOLATE
INTERPOLATE
Cancelled POSING
operation
The accel/decel filter for
POSING command will be
cancelled.
INTERPOLATE
INTERPOLATE
INTERPOLATE
Cancelled
POSING operation
FEED
FEED
FEED