YASKAWA MP2000 Series User Manual page 254

8.1 Switchable Motion Commands
8.1.10 Switching from VELO
Switched From
VELO
8-28
Switched To
VELO will immediately switch to STEP, 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.
 STEP switched from VELO starts its operation with the empty accel/decel fil-
ter. Therefore, when the accel/decel filter is set for STEP 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 STEP command (see (2).)
(1) When Using the Accel/Decel Filter for STEP Command
Motion command
STEP
Motion command
response
(2) When Not Using the Accel/Decel Filter for STEP Command
Motion command
Motion command
response
VELO will switch to ZSET when the axis stops after deceleration.
ZSET
Motion command
Motion command
response
VELO
VELO operation will continue.
Operation
Distribution will start from
the state Speed = 0 since
the accel/decel filter is empty.
VELO STEP
VELO STEP
VELO STEP
Speed control mode Position control mode
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.
VELO STEP
VELO STEP
VELO STEP
Speed control mode Position control mode
A machine coordinate
system will be established
on the base of the position
where the axis stops after
deceleration.
VELO
VELO ZSET
VELO ZSET
Speed control mode Position control mode