YASKAWA SVC User Manual page 286

Switching from the POSING Motion Command
This section describes the operation when switching to another command during execution of
the POSING command.
Command Command
before after
Switching Switching
NOP
POSING
POSING
EX_POSING
4.4.2 Operation after Changing the Motion Command
The motion command switches to the NOP command after the axis decel-
erates to a complete stop.
POSING
Motion command POSING
Motion command
POSING
response
The POSING operation continues.
The motion command immediately switches to the EX_POSING command.
When this occurs, the travel distance that is stored in the acceleration/
deceleration filter is distributed. When execution of the EX_POSING com-
mand is started, the related SERVOPACK parameters are written, and then
the positioning operation starts.
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the EX_POSING
command based on the current speed
when the command was switched.)
The acceleration/deceleration filter also
continues operation.
POSING
Motion command POSING
Motion command
POSING
response
Changing OL1C (Position Reference Setting) during Deceleration
• Using the Incremental Value Addition Method (When Bit 5 in OW09
Is Set to 0)
The setting of OL1C (Position Reference Setting) is ignored.
• Using the Absolute Value Specification Method (When Bit 5 in
OW09 Is Set To 1)
The target position is the value of OL1C (Position Reference Setting)
when execution of the EX_POSING command is started.
Precautions
Do not change the Position Reference Setting parameter during decelera-
tion.
Doing so may cause a decrease in speed because the related parameters
are written at the start of EX_POSING execution.
4.4 Changing the Command
Operation
Canceled part of
POSING operation
NOP
NOP
Canceled part of
POSING operation
EX_POSING
EX_POSING
EX_POSING
Continued on next page.
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