YASKAWA MP Series User Manual

7.2 Motions After Switching Motion Commands
7.2.6 Switching from FEED
7-23
Switching Commands during Execution
FEED
INTERPOLATE
FEED will switch to INTERPOLATE when the axis stops after deceleration.
<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 the Position Reference Setting (OL1C) will be output at as soon as at
the timing of the first high-speed scan after INTERPOLATE execution starts.
 Do not change the Position Reference Setting during deceleration unless it is
absolutely necessary.
ENDOF_IN-
TERPOLATE
Same as INTERPOLATE
LATCH Same as INTERPOLATE
FEED FEED operation will continue.
STEP
FEED will switch to STEP when the axis stops after deceleration.
ZSET
FEED will immediately switch to ZSET, and the FEED operation will continue.
 In actual operation, set the zero point by executing ZSET in the positioning
completed status.
(cont’d)
Switched From Switched To Operation
FEED
Canceled FEED
operation
FEED INTERPOLATE
FEED INTERPOLATE
INTERPOLATE
Motion command
Motion command
response
Canceled FEED
operation
FEED
FEED STEP
FEED STEP
STEP
Motion command
Motion command
response
FEED
FEED operation will
continue.
FEED ZSET
FEED ZSET
Motion command
Motion command
response

YASKAWA MP Series Specifications

General

Brand	YASKAWA
Model	MP Series
Category	Controller
Language	English