YASKAWA MP2000 Series User Manual page 249

Switched From Switched To
FEED
STEP
ZSET
STEP
VELO
STEP will immediately switch to FEED, 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 com-
mand is switched will increase/decrease
until it reaches the FEED target speed.
The accel/decel filter will remain valid.
Motion command
Motion command
response
STEP operation will continue.
STEP will switch to ZSET when the axis stops after deceleration.
Motion command
Motion command
response
STEP 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 STEP 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.
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.
Motion command
Motion command
response
Position control mode
8.1 Switchable Motion Commands
8.1.8 Switching from STEP
Operation
STEP FEED
STEP FEED
STEP FEED
A machine coordinate system will
be established on the base of
the position where the axis stops
after deceleration.
STEP
STEP ZSET
STEP ZSET
Cancelled STEP operation
The accel/decel filter for
STEP command will be
cancelled.
STEP VELO
STEP VELO
STEP VELO
Speed control mode
Cancelled STEP operation
The accel/decel filter for
STEP command will be
cancelled.
STEP VELO
STEP VELO
STEP VELO
Speed control mode
8
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