YASKAWA SVC User Manual page 302

Switching from the FEED Motion Command
This section describes the operation when switching to another command during execution of
the FEED command.
Command Command
before after
Switching Switching
NOP
FEED
POSING
4.4.2 Operation after Changing the Motion Command
The motion command switches to the NOP command after the axis decel-
erates to a complete stop.
FEED
Motion command FEED
Motion command
FEED
response
• Using the Incremental Value Addition Method (When Bit 5 in OW09
Is Set to 0)
The motion command switches to the POSING command after the axis
decelerates to a complete stop.
FEED
Motion command
FEED
Motion command
FEED
response
Incremental value = Target position − IL14 (DPOS)
OL1C = OL1C + Incremental value
Precautions
Any change to OL1C (Position Reference Setting) during decelera-
tion is ignored.
• Using the Absolute Value Specification Method (When Bit 5 in
OW09 Is Set to 1)
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.
FEED
Motion command
FEED
Motion command
FEED
response
The set value for OL1C (Position Reference Setting) is as follows:
OL1C = Target position
4.4 Changing the Command
Operation
NOP
NOP
Canceled part of
FEED operation
POSING
POSING
POSING
POSING
POSING
POSING
Continued on next page.
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