YASKAWA MP2000 Series User Manual page 231

Switched From Switched To
STEP
ZSET
POSING
VELO
POSING will immediately switch to STEP, and the moving amount stored in the accel/
decel filter will be maintained.
The speed will smoothly change.
The speed at the time the motion
command is switched will increase/
decrease until it reaches the STEP target
speed.
The accel/decel filter will remain valid.
Motion command
Motion command
response
POSING will switch to ZSET when the axis stops after deceleration.
Motion command
Motion command
response
POSING will immediately switch to VELO and the control mode will be changed from
position control mode to speed control mode. The moving amount stored in the accel/
decel filter will be reset to 0.
 VELO switched from POSING starts its operation with the empty accel/decel
filter. Therefore, when the accel/decel filter is set for VELO 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 VELO command (see (2).)
(1) When Using the Accel/Decel Filter for VELO Command
Distribution will start from
the state Speed = 0 since
the accel/decel filter is
empty.
Motion command
Motion command
response
Position control mode
8.1 Switchable Motion Commands
8.1.2 Switching from POSING
Operation
Cancelled
POSING operation
STEP moving
amount
POSING STEP
POSING STEP
POSING STEP
A machine coordinate
system will be established Cancelled
on the base of the position
POSING operation
where the axis stops
after deceleration
POSING
POSING ZSET
POSING ZSET
Cancelled POSING
operation
The accel/decel filter for
POSING command will be
cancelled.
POSING VELO
POSING VELO
POSING VELO
Speed control mode
8
8-5