YASKAWA SVC User Manual page 299

4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
Command
before
Switching
INTERPOLATE
4-156
Command
after
Switching
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.
FEED
Motion command
Motion command
response
The motion command immediately switches to the STEP 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 STEP
command based on the current speed
when the command was switched.)
The acceleration/deceleration filter also
continues operation.
STEP
Motion command
Motion command
response
The motion command immediately switches to the ZSET command, and
the travel distance that is stored in the acceleration/deceleration filter is dis-
tributed.
ZSET
Motion command
Motion command
response
Precautions
In actual operation, set the origin by executing ZSET when positioning has
been completed.
Operation
FEED
INTERPOLATE
INTERPOLATE FEED
INTERPOLATE FEED
STEP Travel Distance
STEP
INTERPOLATE
INTERPOLATE STEP
INTERPOLATE STEP
Output of the amount stored in
the acceleration/deceleration filter
INTERPOLATE
INTERPOLATE ZSET
INTERPOLATE ZSET
Continued from previous page.
Continued on next page.