YASKAWA SVC User Manual page 308

Command Command
before after
Switching Switching
EX_POSING
STEP
ZRET
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
continued.
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.
STEP
Motion command STEP
Motion command
STEP
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
Precautions
The speed may decrease because the related parameters are written at the
start of EX_POSING execution.
The motion command immediately switches to the ZRET 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 ZRET
command based on the current speed
when the command was switched.)
The acceleration/deceleration filter also
continues operation.
STEP
Motion command STEP
Motion command
STEP
response
Precautions
The speed may decrease because the related parameters are written at the
start of ZRET execution.
4.4 Changing the Command
Continued from previous page.
Operation
EX_POSING
EX_POSING
EX_POSING
Canceled part of
STEP operation
ZRET
ZRET
ZRET
Continued on next page.
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