YASKAWA SVC User Manual page 297

4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
Switching from the INTERPOLATE Motion Command
This section describes the operation when switching to another command during execution of
the INTERPOLATE command.
Command
before
Switching
INTERPOLATE
4-154
Command
after
Switching
The motion command immediately switches to the NOP command, and the
travel distance that is stored in the acceleration/deceleration filter is distrib-
uted.
NOP
Motion command
Motion command
response
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.
POSING
Motion command
Motion command
response
The value of OL1C (Position Reference Setting) when the motion
command is switched is as follows:
• Using the Incremental Value Addition Method (When Bit 5 in OW09
Is Set to 0)
Incremental value = Target position − IL14 (DPOS)
OL1C = OL1C + Incremental value
• Using the Absolute Value Specification Method (When Bit 5 in
OW09 Is Set to 1)
OL1C = Target position
Operation
Output of the amount stored in
the acceleration/deceleration filter
INTERPOLATE
INTERPOLATE NOP
INTERPOLATE NOP
INTERPOLATE POSING
INTERPOLATE POSING
INTERPOLATE POSING
Continued on next page.