YASKAWA SVC User Manual page 328

Command Command
before after
Switching Switching
INTERPOLATE
LATCH
EX_FEED
FEED
STEP
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.
Canceled part of
EX_FEED operation
EX_FEED
Motion command
EX_FEED
Motion command
EX_FEED
response
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 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 FEED
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 motion command switches to the STEP command after the axis decel-
erates to a complete stop.
EX_FEED
Motion command
EX_FEED
Motion command
EX_FEED
response
4.4 Changing the Command
Continued from previous page.
Operation
INTERPOLATE
INTERPOLATE
INTERPOLATE
FEED
FEED
FEED
Canceled part of
EX_FEED operation
STEP
STEP
STEP
Continued on next page.
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