YASKAWA SVC User Manual page 301

4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
Command
before
Switching
INTERPOLATE
4-158
Command
after
Switching
The motion command immediately switches to the EX_FEED command,
and the travel distance that is stored in the acceleration/deceleration filter is
distributed.
When execution of the EX_FEED command is started, the related SERVO-
PACK parameters are written, and then the jogging operation starts.
EX_FEED
Motion command
Motion command
response
Operation
Stop to change the SERVOPACK parameters
related to external positioning
EX_FEED
INTERPOLATE
INTERPOLATE EX_FEED
INTERPOLATE EX_FEED
Continued from previous page.