YASKAWA MP2000 Series User Manual page 253

Switched From Switched To
INTERPOLATE
ENDOF_INTER
POLATE
LATCH
VELO
FEED
VELO will switch to INTERPOLATE when the axis stops after deceleration, and the con-
trol mode will be changed from speed control mode to position control mode after the axis
deceleration is completed.
Motion command
Motion command
response
Speed control mode
<Change in Position Reference Setting (OL1C) during Deceleration>
• In Incremental Addition Mode (OW09, bit 5 = 0)
Any change in the Position Reference Setting (OL1C) will be ignored.
• In Absolute Mode (OW09, bit 5 = 1)
The change in Position Reference Setting (OL1C) will be output as soon as the first
high-speed scan after INTERPOLATE execution starts.
 Do not change the Position Reference Setting during deceleration unless it is
absolutely necessary.
Same as INTERPOLATE
Same as INTERPOLATE
VELO will immediately switch to FEED, and the control mode will be changed from
speed control mode to position control mode. The moving amount stored in the accel/
decel filter will be reset to 0.
 FEED switched from VELO starts its operation with the empty accel/decel fil-
ter. Therefore, when the accel/decel filter is set for FEED 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 FEED command (see (2).)
(1) When Using the Accel/Decel Filter for FEED Command
Distribution will start from the
state Speed = 0 since the accel/
decel filter is empty.
Motion command
Motion command
response
Speed control mode
(2) When Not Using the Accel/Decel Filter for FEED Command
The speed will smoothly change.
The speed at the time the motion command is
switched will increase/decrease until it reaches
the FEED target speed.
Motion command
Motion command
response
Speed control mode
8.1 Switchable Motion Commands
8.1.10 Switching from VELO
Operation
VELO
INTERPOLATE
VELO INTERPOLATE
VELO INTERPOLATE
Position control mode
VELO FEED
VELO FEED
VELO FEED
Position control mode
VELO FEED
VELO FEED
VELO FEED
Position control mode
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