YASKAWA SVC User Manual page 313

4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
Command
before
Switching
VELO
4-170
Command
after
Switching
The motion command immediately switches to the EX_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 can-
celed.
Motion command
Motion command
EX_POSING response
Precautions
After switching to EX_POSING, the EX_POSING command operates with-
out the acceleration/deceleration filter. To enable the acceleration/decelera-
tion 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 EX_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
The motion command switches to the ZRET command after the axis decel-
erates to a complete stop, and the control mode switches from speed con-
trol to position control.
ZRET
Motion command
Motion command
response
Operation
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 is
disabled.
VELO EX_POSING
VELO EX_POSING
VELO EX_POSING
Speed Control Mode Position Control Mode
VELO ZRET
VELO ZRET
VELO
Speed Control Mode Position Control Mode
Continued from previous page.
ZRET
Continued on next page.