YASKAWA SVC User Manual page 251

4.2 Motion Command Details
4.2.27 EX_FEED (Jog with External Positioning)
Operating Patterns
The following figure shows the operating pattern when the EX_FEED command is executed.
 Operating Pattern without External Positioning
Speed (%)
 Operating Pattern with External Positioning
Holding
Holding execution of the EX_FEED command is not possible. Bit 0 (Hold Command) in the
OW09 setting parameter will be ignored.
Canceling
• To cancel a jogging or external positioning operation, set bit 1 (Cancel Command) in the
OW09 setting parameter to 1 (Cancel Command ON).
When bit 1 in OW09 is set to 1, the axis will decelerate to a stop.
The deceleration operation depends on the setting of bits 8 to F (Stop Mode Selection) in the
OW02 setting parameter.
When the axis completely decelerates to a stop, the remaining motion will be canceled and
bit 1 (Positioning Completed) in the IW0C monitor parameter will change to 1 (Within
positioning completed range).
• The jogging operation resumes if bit 1 (Cancel Command) in the OW09 setting param-
eter is set to 0 (Cancel Command OFF) during processing of the cancel operation.
• The same operation as the Cancel Command operation will be performed if the motion com-
mand code is changed before external positioning is performed.
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Rated speed
(100%)
Feed Speed
0
Linear Acceleration
Time Constant
(OL 36)
Speed (%)
Rated speed
(100%)
0
Linear Acceleration
Time Constant
(OL 36)
Latch signal (external positioning signal)
NOP command
Position
Time (t)
Linear Deceleration
Time Constant
(OL 38)
Feed Speed External Positioning
Final Travel Distance
Time (t)
Linear Deceleration
Time Constant
(OL 38)