YASKAWA SVC User Manual page 291

4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
Command
before
Switching
EX_POSING
4-148
Command
after
Switching
The motion command immediately switches to the ZRET command, and
the travel distance that is stored in the acceleration/deceleration filter is
continued.
ZRET
Motion command
Motion command
response
Precautions
The speed may decrease because the related parameters are written at the
start of ZRET execution.
The motion command switches to the INTERPOLATE command after the
axis decelerates to a complete stop.
Motion command
Motion command
INTERPOLATE
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)
Any change to OL1C (Position Reference Setting) is ignored.
• Using the Absolute Value Specification Method (When Bit 5 in
OW09 Is Set to 1)
The change to OL1C (Position Reference Setting) is output in the
first high-speed scan after execution of the INTERPOLATE command is
started.
Precautions
Do not change the Position Reference Setting parameter during decelera-
tion.
LATCH Same as the INTERPOLATE command.
Operation
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the ZRET
command based on the current speed
when the command was switched.)
The acceleration/deceleration filter also
continues operation.
EX_POSING ZRET
EX_POSING ZRET
EX_POSING ZRET
Canceled part of
EX_POSING
operation
EX_POSING INTERPOLATE
EX_POSING INTERPOLATE
EX_POSING INTERPOLATE
Continued from previous page.
Canceled part of
EX_POSING
operation
Continued on next page.