YASKAWA SVC User Manual page 295

4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
Command
before
Switching
ZRET
4-152
Command
after
Switching
ZRET The ZRET operation continues.
The motion command switches to the INTERPOLATE command after the
axis decelerates to a complete stop.
Motion command
Motion command
response
INTERPOLATE
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.
The motion command switches to the FEED command after the axis decel-
erates to a complete stop.
FEED
Motion command
Motion command
response
The motion command switches to the STEP command after the axis decel-
erates to a complete stop.
STEP
Motion command
Motion command
response
The ZSET command is executed when the axis has decelerated to a com-
plete stop.
ZSET
Motion command
Motion command
response
Operation
Canceled part of
ZRET operation
INTERPOLATE
ZRET
ZRET INTERPOLATE
ZRET INTERPOLATE
Canceled part of
ZRET operation
ZRET FEED
ZRET FEED
ZRET FEED
Canceled part of
ZRET operation
ZRET STEP
ZRET STEP
ZRET STEP
A machine coordinate
system is created based on
the position where the axis
Canceled part of
decelerated to a stop.
ZRET operation
ZRET
ZRET ZSET
ZRET ZSET
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