4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
4
Motion Control Program Commands and Instructions
4-149
EX_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
• Using the Incremental Value Addition Method (When Bit 5 in OW09
Is Set to 0)
The motion command switches to the ZSET command after the axis
decelerates to a complete stop.
• Using the Absolute Value Specification Method (When Bit 5 in
OW09 Is Set to 1)
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
EX_POSING
EX_POSING FEED
EX_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.)
The acceleration/deceleration lter also
continues operation.
Canceled part of
EX_POSING
operation
Motion command
Motion command
response
EX_POSING
EX_POSING STEP
EX_POSING STEP
STEP
Canceled part of
EX_POSING operation
STEP travel distance
Motion command
Motion command
response
EX_POSING
EX_POSING ZSET
EX_POSING ZSET
A machine coordinate
system is created based
on the position where the
axis decelerated to a stop.
Canceled part of
EX_POSING operation
Motion command
Motion command
response
EX_POSING
EX_POSING ZSET
EX_POSING ZSET
The EX_POSING
operation continues.
Motion command
Motion command
response
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