YASKAWA MP2000 Series User Manual page 245

Switched From Switched To
STEP
ZSET
FEED
VELO
FEED 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
FEED will switch to ZSET when the axis stops after deceleration.
Motion command
Motion command
response
FEED will immediately switch to VELO, and the control mode will be changed from posi-
tion control mode to speed control mode.
The moving amount stored in the accel/decel filter will be reset to 0.
 VELO switched from FEED starts its operation with the empty accel/decel fil-
ter. 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 FEED command will be
cancelled.
Motion command
Motion command
response
Position control mode
8.1 Switchable Motion Commands
8.1.7 Switching from FEED
Operation
STEP moving
amount
FEED STEP
FEED STEP
FEED STEP
A machine coordinate system
will be established on the base
of the position where the axis
stops after deceleration.
FEED
FEED ZSET
FEED ZSET
FEED VELO
FEED VELO
FEED VELO
Speed control mode
8
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