YASKAWA SVC User Manual page 319

4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
Command
before
Switching
TRQ
4-176
Command
after
Switching
The axis decelerates to a stop in Position Control Mode, and then the
motion command switches to the INTERPOLATE command.
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.
Same as the INTERPOLATE command.
LATCH
The motion command immediately switches to the FEED command, and
the control mode switches from torque control to position control. The
travel distance that is stored in the acceleration/deceleration filter is can-
celed.
FEED
Motion command
Motion command
response
Precautions
After switching to FEED, the FEED command operates without the acceler-
ation/deceleration filter. To enable the acceleration/deceleration filter, hold
the TRQ operation by executing the NOP command. Then, check that bit 0
(Distribution Completed) in IW0C is 1 (Completed) before you execute
the FEED command.
Operation
The axis decelerates to a stop in Position
Control Mode from the speed when the
motion command was switched.
TRQ
INTERPOLATE
TRQ INTERPOLATE
TRQ INTERPOLATE
Torque Control Mode Position Control Mode
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.
TRQ FEED
TRQ FEED
TRQ FEED
Torque Control Mode Position Control Mode
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