YASKAWA SVC User Manual page 303

4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
Command
before
Switching
FEED
4-160
Command
after
Switching
• Using the Incremental Value Addition Method (When Bit 5 in OW09
Is Set to 0)
The motion command switches to the EX_POSING command after the
axis decelerates to a complete stop.
When execution of the EX_POSING command is started, the related SER-
VOPACK parameters are written, and then the positioning operation
starts.
Motion command
Motion command
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.
EX_POSING
• Using the Absolute Value Specification Method (When Bit 5 in
OW09 Is Set to 1)
The motion command immediately switches to the EX_POSING com-
mand, and the travel distance that is stored in the acceleration/decelera-
tion filter is continued.
Motion command
Motion command
response
The set value for OL1C (Position Reference Setting) is as follows:
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
continued.
ZRET
Motion command
Motion command
response
Operation
Canceled part of
FEED operation
FEED EX_POSING
FEED EX_POSING
FEED EX_POSING
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the EX_POSING
command based on the current speed
when the command was switched.)
The acceleration/deceleration filter also
continues operation.
FEED EX_POSING
FEED EX_POSING
FEED EX_POSING
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the ZRET
command based on the current speed
when the command was switched.)
The acceleration/deceleration filter also
continues operation.
FEED ZRET
FEED ZRET
FEED ZRET
Continued from previous page.
Canceled part of
FEED operation
Continued on next page.