YASKAWA SVC User Manual page 322

Switching from the PHASE Motion Command
This section describes the operation when switching to another command during execution of
the PHASE command.
Command Command
before after
Switching Switching
NOP
PHASE
POSING
4.4.2 Operation after Changing the Motion Command
The motion command immediately switches to the NOP command, and the
travel distance that is stored in the acceleration/deceleration filter is distrib-
uted.
Output of the amount stored in
the acceleration/deceleration filter
PHASE
Motion command PHASE
Motion command
PHASE
response
Phase Control Mode
The motion command immediately switches to the POSING command, and
the control mode switches from phase control to position control.
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.)
PHASE
Motion command PHASE
Motion command
PHASE
response
Phase Control Mode
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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