YASKAWA SVC User Manual page 326

Switching from the EX_FEED Motion Command
This section describes the operation when switching to another command during execution of
the EX_FEED command.
Command Command
before after
Switching Switching
NOP
EX_FEED
POSING
4.4.2 Operation after Changing the Motion Command
The motion command switches to the NOP command after the axis decel-
erates to a complete stop.
EX_FEED
Motion command EX_FEED
Motion command
EX_FEED
response
• Using the Incremental Value Addition Method (When Bit 5 in OW09
Is Set to 0)
The motion command switches to the POSING command after the axis
decelerates to a complete stop.
EX_FEED
Motion command EX_FEED
Motion command
EX_FEED
response
Incremental value = Target position − IL14 (DPOS)
OL1C = OL1C + Incremental value
Precautions
Any change to OL1C (Position Reference Setting) during deceleration
is ignored.
• Using the Absolute Value Specification Method (When Bit 5 in
OW09 Is Set to 1)
The motion command immediately switches to the POSING command,
and the travel distance that is stored in the acceleration/deceleration filter
is continued.
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.)
The acceleration/deceleration filter also
continues operation.
EX_FEED
Motion command
EX_FEED
Motion command
EX_FEED
response
The set value for OL1C (Position Reference Setting) is as follows:
OL1C = Target position
4.4 Changing the Command
Operation
NOP
NOP
Canceled part of
EX_FEED operation
POSING
POSING
POSING
POSING
POSING
POSING
Continued on next page.
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