YASKAWA SVC - Page 295

4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
4-152
ZRET
ZRET The ZRET operation continues.
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.
FEED
The motion command switches to the FEED command after the axis decel-
erates to a complete stop.
STEP
The motion command switches to the STEP command after the axis decel-
erates to a complete stop.
ZSET
The ZSET command is executed when the axis has decelerated to a com-
plete stop.
Continued on next page.
Continued from previous page.
Command
before
Switching
Command
after
Switching
Operation
ZRET
ZRET INTERPOLATE
ZRET INTERPOLATE
INTERPOLATE
Canceled part of
ZRET operation
Motion command
Motion command
response
ZRET
ZRET FEED
ZRET FEED
FEED
Canceled part of
ZRET operation
Motion command
Motion command
response
ZRET
ZRET STEP
ZRET STEP
STEP
Canceled part of
ZRET operation
Motion command
Motion command
response
ZRET
ZRET ZSET
ZRET ZSET
A machine coordinate
system is created based on
the position where the axis
decelerated to a stop.
Canceled part of
ZRET operation
Motion command
Motion command
response