4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
4-156
INTERPOLATE
FEED
The motion command immediately switches to the FEED command, and
the travel distance that is stored in the acceleration/deceleration filter is
continued.
STEP
The motion command immediately switches to the STEP command, and
the travel distance that is stored in the acceleration/deceleration filter is
continued.
ZSET
The motion command immediately switches to the ZSET command, and
the travel distance that is stored in the acceleration/deceleration filter is dis-
tributed.
Precautions
In actual operation, set the origin by executing ZSET when positioning has
been completed.
Continued on next page.
Continued from previous page.
Command
before
Switching
Command
after
Switching
Operation
INTERPOLATE
FEED
INTERPOLATE
FEED
FEED
INTERPOLATE
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the FEED
command based on the current speed
when the command was switched.)
The acceleration/deceleration lter also
continues operation.
Motion command
Motion command
response
INTERPOLATE
STEP
INTERPOLATE
STEP
STEP
INTERPOLATE
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the STEP
command based on the current speed
when the command was switched.)
The acceleration/deceleration lter also
continues operation.
STEP Travel Distance
Motion command
Motion command
response
INTERPOLATE
ZSET
INTERPOLATE
ZSET
INTERPOLATE
Output of the amount stored in
the acceleration/deceleration lter
Motion command
Motion command
response
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