4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
4
Motion Control Program Commands and Instructions
4-143
Switching from the POSING Motion Command
This section describes the operation when switching to another command during execution of
the POSING command.
Command
before
Switching
Command
after
Switching
Operation
POSING
NOP
The motion command switches to the NOP command after the axis decel-
erates to a complete stop.
POSING The POSING operation continues.
EX_POSING
The motion command immediately switches to the EX_POSING command.
When this occurs, the travel distance that is stored in the acceleration/
deceleration filter is distributed. When execution of the EX_POSING com-
mand is started, the related SERVOPACK parameters are written, and then
the positioning operation starts.
Changing OL1C (Position Reference Setting) during Deceleration
• Using the Incremental Value Addition Method (When Bit 5 in OW09
Is Set to 0)
The setting of OL1C (Position Reference Setting) is ignored.
• Using the Absolute Value Specification Method (When Bit 5 in
OW09 Is Set To 1)
The target position is the value of OL1C (Position Reference Setting)
when execution of the EX_POSING command is started.
Precautions
Do not change the Position Reference Setting parameter during decelera-
tion.
Doing so may cause a decrease in speed because the related parameters
are written at the start of EX_POSING execution.
Continued on next page.
POSING
POSING NOP
POSING NOP
Canceled part of
POSING operation
Motion command
Motion command
response
POSING
POSING EX_POSING
POSING EX_POSING
EX_POSING
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the EX_POSING
command based on the current speed
when the command was switched.)
The acceleration/deceleration lter also
continues operation.
Canceled part of
POSING operation
Motion command
Motion command
response
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