YASKAWA SVC - Page 294

4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
4
Motion Control Program Commands and Instructions
4-151
Switching from the ZRET Motion Command
This section describes the operation when switching to another command during execution of
the ZRET command.
Command
before
Switching
Command
after
Switching
Operation
ZRET
NOP
The motion command switches to the NOP command after the axis decel-
erates to a complete stop.
POSING
The motion command switches to the POSING 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 target position is the value of OL1C (Position Reference Setting)
when execution of the POSING command is started.
Precautions
Do not change the Position Reference Setting parameter during decelera-
tion.
EX_POSING
The motion command switches to the EX_POSING command after the axis
decelerates to a complete stop.
When execution of the EX_POSING command is started, the related SER-
VOPACK parameters are written, and then the positioning operation starts.
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 target position is the value of OL1C (Position Reference Setting)
when execution of the EX_POSING command is started.
Precautions
Do not change the Position Reference Setting parameter during decelera-
tion.
Continued on next page.
ZRET
ZRET NOP
ZRET NOP
Canceled part of
ZRET operation
Motion command
Motion command
response
ZRET
ZRET POSING
ZRET POSING
POSING
Canceled part of
ZRET operation
Motion command
Motion command
response
ZRET
ZRET EX_POSING
ZRET EX_POSING
EX_POSING
Canceled part of
ZRET operation
Motion command
Motion command
response