YASKAWA SVC - Page 290

4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
4
Motion Control Program Commands and Instructions
4-147
Switching from the EX_POSING Motion Command
This section describes the operation when switching to another command during execution of
the EX_POSING command.
Command
before
Switching
Command
after
Switching
Operation
EX_POSING
NOP
The motion command switches to the NOP command after the axis decel-
erates to a complete stop.
POSING
• Using the Incremental Value Addition Method (When Bit 5 in OW09
Is Set to 0)
The motion command switches to the POSING command after the axis
decelerates to a complete stop.
Incremental value = Target position - IL14 (DPOS)
OL1C = OL1C + Incremental value
Precautions
Any change to OL1C (Position Reference Setting) during decelera-
tion is ignored.
• Using the Absolute Value Specification Method (When Bit 5 in
OW09 Is Set to 1)
The motion command immediately switches to the POSING command,
and the travel distance that is stored in the acceleration/deceleration filter
is continued.
The set value for OL1C (Position Reference Setting) is as follows:
OL1C = Target position
EX_POSING The EX_POSING operation continues.
Continued on next page.
EX_POSING
EX_POSING NOP
EX_POSING NOP
Canceled part of
EX_POSING operation
Motion command
Motion command
response
EX_POSING
EX_POSING POSING
EX_POSING POSING
POSING
Canceled part of
EX_POSING operation
Motion command
Motion command
response
EX_POSING
EX_POSING
POSING
EX_POSING
POSING
POSING
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the POSING
command based on the current speed
when the command was switched.)
The acceleration/deceleration lter also
continues operation.
Canceled part of
EX_POSING
operation
Motion command
Motion command
response