4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
4
Motion Control Program Commands and Instructions
4-145
POSING
FEED
The motion command immediately switches to the FEED command, and
the travel distance that is stored in the acceleration/deceleration filter is
continued.
STEP
The motion command switches to the STEP command after the axis decel-
erates to a complete stop.
ZSET
The motion command immediately switches to the ZSET command, and
the positioning operation continues.
Precautions
In actual operation, set the origin by executing ZSET when positioning has
been completed.
Continued on next page.
Continued from previous page.
Command
before
Switching
Command
after
Switching
Operation
POSING
POSING FEED
POSING FEED
FEED
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.)
Canceled part of
POSING operation
Motion command
Motion command
response
The acceleration/deceleration lter also
continues operation.
POSING
POSING STEP
POSING STEP
STEP
Canceled part of
POSING operation
Motion command
Motion command
response
STEP Travel Distance
POSING
POSING ZSET
POSING ZSET
The POSING
operation continues.
Motion command
Motion command
response
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