YASKAWA MP2000 Series User Manual page 235

Switched From Switched To
STEP
ZSET
EX_POSING
VELO
EX_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.
Motion command
Motion command
response
EX_POSING will switch to ZSET when the axis stops after deceleration.
Motion command
Motion command
response
EX_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 will be reset to 0.
 VELO switched from EX_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.
The accel/decel filter for EX_POSING command
will be cancelled.
Motion command
Motion command
response
Position control mode
(2) When Not Using the Accel/Decel Filter for VELO Command
The speed will smoothly change.
The speed at the time the motion command is
switched will increase/decrease until it reaches
the VELO target speed.
The accel/decel filter for EX_POSING command
will be cancelled.
Motion command
Motion command
response
Position control mode
8.1 Switchable Motion Commands
8.1.3 Switching from EX_POSING
Operation
Cancelled
EX_POSING
operation
STEP moving
amount
EX_POSING STEP
EX_POSING STEP
EX_POSING STEP
A machine coordinate
Cancelled
system will be established
EX_POSING operation
on the base of the position
where the axis stops after
deceleration.
EX_POSING
EX_POSING ZSET
EX_POSING ZSET
Cancelled
EX_POSING
operation
EX_POSING VELO
EX_POSING VELO
EX_POSING VELO
Speed control mode
Cancelled
EX_POSING
operation
EX_POSING VELO
EX_POSING VELO
EX_POSING VELO
Speed control mode
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