YASKAWA SVC User Manual page 314

Command Command
before after
Switching Switching
INTERPOLATE
VELO
LATCH
FEED
4.4.2 Operation after Changing the Motion Command
The motion command switches to the INTERPOLATE command after the
axis decelerates to a complete stop, and the control mode switches from
speed control to position control.
VELO
Motion command
VELO
Motion command
VELO
response
Speed Control Mode
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.
Same as the INTERPOLATE command.
The motion command immediately switches to the FEED 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 FEED
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
4.4 Changing the Command
Continued from previous page.
Operation
INTERPOLATE
INTERPOLATE
INTERPOLATE
Position Control Mode
FEED
FEED
FEED
Position Control Mode
Continued on next page.
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