YASKAWA SVC - Page 251

4.2 Motion Command Details
4.2.27 EX_FEED (Jog with External Positioning)
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Operating Patterns
The following figure shows the operating pattern when the EX_FEED command is executed.
 Operating Pattern without External Positioning
 Operating Pattern with External Positioning
Holding
Holding execution of the EX_FEED command is not possible. Bit 0 (Hold Command) in the
OW09 setting parameter will be ignored.
Canceling
• To cancel a jogging or external positioning operation, set bit 1 (Cancel Command) in the
OW09 setting parameter to 1 (Cancel Command ON).
When bit 1 in OW09 is set to 1, the axis will decelerate to a stop.
The deceleration operation depends on the setting of bits 8 to F (Stop Mode Selection) in the
OW02 setting parameter.
When the axis completely decelerates to a stop, the remaining motion will be canceled and
bit 1 (Positioning Completed) in the IW0C monitor parameter will change to 1 (Within
positioning completed range).
• The jogging operation resumes if bit 1 (Cancel Command) in the OW09 setting param-
eter is set to 0 (Cancel Command OFF) during processing of the cancel operation.
• The same operation as the Cancel Command operation will be performed if the motion com-
mand code is changed before external positioning is performed.
(100%)
0
Speed (%)
Rated speed
NOP command
Feed Speed
Position
Linear Acceleration
Time Constant
(OL36)
Linear Deceleration
Time Constant
(OL38)
Time (t)
0
(100%)
Speed (%)
Rated speed
Feed Speed
External Positioning
Final Travel Distance
Time (t)
Latch signal (external positioning signal)
Linear Acceleration
Time Constant
(OL36)
Linear Deceleration
Time Constant
(OL38)