YASKAWA SVC User Manual page 294

Switching from the ZRET Motion Command
This section describes the operation when switching to another command during execution of
the ZRET command.
Command Command
before after
Switching Switching
NOP
POSING
ZRET
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.
ZRET
Motion command ZRET
Motion command
ZRET
response
The motion command switches to the POSING command after the axis
decelerates to a complete stop.
ZRET
Motion command
ZRET
Motion command
ZRET
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 target position is the value of OL1C (Position Reference Setting)
when execution of the POSING command is started.
Precautions
Do not change the Position Reference Setting parameter during decelera-
tion.
The motion command switches to the EX_POSING command after the axis
decelerates to a complete stop.
When execution of the EX_POSING command is started, the related SER-
VOPACK parameters are written, and then the positioning operation starts.
ZRET
ZRET
Motion command
Motion command
ZRET
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 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.
4.4 Changing the Command
Operation
Canceled part of
ZRET operation
NOP
NOP
Canceled part of
ZRET operation
POSING
POSING
POSING
Canceled part of
ZRET operation
EX_POSING
EX_POSING
EX_POSING
Continued on next page.
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