YASKAWA SVC User Manual page 288

Command Command
before after
Switching Switching
FEED
POSING
STEP
ZSET
4.4.2 Operation after Changing the Motion Command
The motion command immediately switches to the FEED command, and
the travel distance that is stored in the acceleration/deceleration filter is
continued.
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 filter also
continues operation.
POSING
POSING
Motion command
Motion command
POSING
response
The motion command switches to the STEP command after the axis decel-
erates to a complete stop.
POSING
Motion command
POSING
Motion command
POSING
response
The motion command immediately switches to the ZSET command, and
the positioning operation continues.
POSING
Motion command POSING
Motion command
POSING
response
Precautions
In actual operation, set the origin by executing ZSET when positioning has
been completed.
4.4 Changing the Command
Continued from previous page.
Operation
Canceled part of
POSING operation
FEED
FEED
FEED
Canceled part of
POSING operation
STEP Travel Distance
STEP
STEP
STEP
The POSING
operation continues.
ZSET
ZSET
Continued on next page.
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