YASKAWA SVC User Manual page 323

4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
Command
before
Switching
PHASE
4-180
Command
after
Switching
The motion command immediately switches to the EX_POSING command,
and the control mode switches from phase control to position control. At
this time, the travel distance that is stored in the acceleration/deceleration
filter is distributed.
When execution of the EX_POSING command is started, the related SER-
VOPACK parameters are written, and then the positioning operation starts.
EX_POSING
Motion command
Motion command
response
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 immediately switches to the ZRET command, and
the control mode switches from phase control to position control. At this
time, the travel distance that is stored in the acceleration/deceleration filter
is distributed.
When execution of ZRET is started, the related SERVOPACK parameters
are written, and then the origin return operation starts.
ZRET
Motion command
Motion command
response
The motion command immediately switches to the INTERPOLATE com-
mand, and the control mode switches from phase control to position con-
trol.
INTERPOLATE
Motion command
Motion command
response
LATCH Same as the INTERPOLATE command.
Operation
Stop to change the SERVOPACK
parameters related to external
positioning
PHASE EX_POSING
PHASE EX_POSING
PHASE EX_POSING
Position Control Mode
Phase Control Mode
Stop to change the SERVOPACK
parameters related to the origin
return operation
PHASE ZRET
PHASE ZRET
PHASE ZRET
Phase Control Mode Position Control Mode
PHASE
INTERPOLATE
PHASE INTERPOLATE
PHASE INTERPOLATE
Phase Control Mode Position Control Mode
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