YASKAWA SVC User Manual page 292

Command Command
before after
Switching Switching
FEED
STEP
EX_POSING
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.
EX_POSING
Motion command EX_POSING
Motion command
EX_POSING
response
The motion command switches to the STEP command after the axis decel-
erates to a complete stop.
EX_POSING
Motion command EX_POSING
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 ZSET command after the axis
decelerates to a complete stop.
A machine coordinate
system is created based
on the position where the
axis decelerated to a stop.
EX_POSING
Motion command EX_POSING
Motion command
EX_POSING
response
• Using the Absolute Value Specification Method (When Bit 5 in
OW09 Is Set to 1)
The motion command immediately switches to the ZSET command, and
the positioning operation continues.
EX_POSING
Motion command EX_POSING
Motion command
EX_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
EX_POSING
operation
FEED
FEED
FEED
Canceled part of
EX_POSING operation
STEP travel distance
STEP
STEP
STEP
Canceled part of
EX_POSING operation
ZSET
ZSET
The EX_POSING
operation continues.
ZSET
ZSET
Continued on next page.
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