YASKAWA SVC User Manual page 290

Switching from the EX_POSING Motion Command
This section describes the operation when switching to another command during execution of
the EX_POSING command.
Command Command
before after
Switching Switching
NOP
EX_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.
EX_POSING
EX_POSING
Motion command
Motion command
EX_POSING
response
• Using the Incremental Value Addition Method (When Bit 5 in OW09
Is Set to 0)
The motion command switches to the POSING command after the axis
decelerates to a complete stop.
EX_POSING
Motion command EX_POSING
Motion command
EX_POSING
response
Incremental value = Target position - IL14 (DPOS)
OL1C = OL1C + Incremental value
Precautions
Any change to OL1C (Position Reference Setting) during decelera-
tion is ignored.
• Using the Absolute Value Specification Method (When Bit 5 in
OW09 Is Set to 1)
The motion command immediately switches to the POSING 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 POSING
command based on the current speed
when the command was switched.)
The acceleration/deceleration filter also
continues operation.
EX_POSING
Motion command EX_POSING
Motion command
EX_POSING
response
The set value for OL1C (Position Reference Setting) is as follows:
OL1C = Target position
The EX_POSING operation continues.
4.4 Changing the Command
Operation
Canceled part of
EX_POSING operation
NOP
NOP
Canceled part of
EX_POSING operation
POSING
POSING
POSING
Canceled part of
EX_POSING
operation
POSING
POSING
POSING
Continued on next page.
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