YASKAWA SVC User Manual page 298

Command Command
before after
Switching Switching
EX_POSING
INTERPOLATE
ZRET
INTERPOLATE
LATCH
4.4.2 Operation after Changing the Motion Command
The motion command immediately switches to the EX_POSING command,
and the travel distance that is stored in the acceleration/deceleration filter is
distributed.
When execution of the EX_POSING command is started, the related SER-
VOPACK parameters are written, and then the positioning operation starts.
Stop to change the SERVOPACK parameters
related to external positioning
INTERPOLATE
Motion command INTERPOLATE
Motion command
INTERPOLATE
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
The motion command immediately switches to the ZRET command, and
the travel distance that is stored in the acceleration/deceleration filter is dis-
tributed.
When execution of ZRET is started, the related SERVOPACK parameters
are written, and then the origin return operation starts.
Stop to change the SERVOPACK parameters
related to the origin return operation
INTERPOLATE
Motion command INTERPOLATE
Motion command
INTERPOLATE
response
The INTERPOLATE operation continues.
The motion command immediately switches to the LATCH command, and
the travel distance that is stored in the acceleration/deceleration filter is
continued.
The reference value of the LATCH command
is output, regardless of the current speed
when the command is switched.
The acceleration/deceleration filter also
continues operation.
INTERPOLATE
Motion command INTERPOLATE
Motion command
INTERPOLATE
response
4.4 Changing the Command
Continued from previous page.
Operation
EX_POSING
EX_POSING
EX_POSING
ZRET
ZRET
ZRET
LATCH
LATCH
LATCH
Continued on next page.
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