YASKAWA SVC User Manual page 309

4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
Command
before
Switching
STEP
4-166
Command
after
Switching
The motion command switches to the INTERPOLATE command after the
axis decelerates to a complete stop.
Motion command
Motion command
response
INTERPOLATE
Changing OL1C (Position Reference Setting) during Deceleration
• Using the Incremental Value Addition Method (When Bit 5 in OW09
Is Set to 0)
Any change to OL1C (Position Reference Setting) is ignored.
• Using the Absolute Value Specification Method (When Bit 5 in
OW09 Is Set to 1)
The change to OL1C (Position Reference Setting) is output in the
first high-speed scan after execution of the INTERPOLATE command is
started.
Precautions
Do not change the Position Reference Setting parameter during decelera-
tion.
LATCH Same as the INTERPOLATE command.
The motion command immediately switches to the FEED command, and
the travel distance that is stored in the acceleration/deceleration filter is
continued.
FEED
Motion command
Motion command
response
Operation
Canceled part of
STEP operation
STEP
INTERPOLATE
STEP INTERPOLATE
STEP INTERPOLATE
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.
STEP FEED
STEP FEED
STEP FEED
Continued from previous page.
Continued on next page.