YASKAWA SVC - Page 287

4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
4-144
POSING
ZRET
The motion command immediately switches to the ZRET command. When
this occurs, the travel distance that is stored in the acceleration/decelera-
tion filter is distributed. When execution of ZRET is started, the related SER-
VOPACK parameters are written, and then the origin return operation starts.
Precautions
The speed may decrease because the related parameters are written at the
start of ZRET execution.
INTERPOLATE
The motion command switches to the INTERPOLATE command after the
axis decelerates to a complete stop.
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.
LATCH Same as the INTERPOLATE command.
Continued on next page.
Continued from previous page.
Command
before
Switching
Command
after
Switching
Operation
POSING
POSING ZRET
POSING ZRET
ZRET
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the ZRET
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
POSING
POSING INTERPOLATE
POSING INTERPOLATE
INTERPOLATE
Canceled part of
POSING operation
Motion command
Motion command
response