YASKAWA SVC User Manual page 312

Switching from the VELO Motion Command
This section describes the operation when switching to another command during execution of
the VELO command.
Command Command
before after
Switching Switching
NOP
VELO
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, and the control mode switches from speed con-
trol to position control.
VELO
Motion command VELO
Motion command
VELO
response
Speed Control Mode
The motion command immediately switches to the POSING command, and
the control mode switches from speed control to position control. The travel
distance that is stored in the acceleration/deceleration filter is canceled.
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 is
disabled.
VELO
Motion command
VELO
Motion command
VELO
response
Speed Control Mode
Precautions
After switching to POSING, the POSING command operates without the
acceleration/deceleration filter. To enable the acceleration/deceleration filter,
hold the VELO operation by executing the NOP command. Then, check that
bit 0 (Distribution Completed) in IW0C is 1 (Completed) before you
execute the POSING command.
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
4.4 Changing the Command
Operation
NOP
NOP
Position Control Mode
POSING
POSING
POSING
Position Control Mode
Continued on next page.
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