YASKAWA SVC - Page 298

4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
4
Motion Control Program Commands and Instructions
4-155
INTERPOLATE
EX_POSING
The motion command immediately switches to the EX_POSING command,
and the travel distance that is stored in the acceleration/deceleration filter is
distributed.
When execution of the EX_POSING command is started, the related SER-
VOPACK parameters are written, and then the positioning operation starts.
The value of OL1C (Position Reference Setting) when the motion
command is switched is as follows:
• Using the Incremental Value Addition Method (When Bit 5 in OW09
Is Set to 0)
Incremental value = Target position − IL14 (DPOS)
OL1C = OL1C + Incremental value
• Using the Absolute Value Specification Method (When Bit 5 in
OW09 Is Set to 1)
OL1C = Target position
ZRET
The motion command immediately switches to the ZRET command, and
the travel distance that is stored in the acceleration/deceleration filter is dis-
tributed.
When execution of ZRET is started, the related SERVOPACK parameters
are written, and then the origin return operation starts.
INTERPOLATE
The INTERPOLATE operation continues.
LATCH
The motion command immediately switches to the LATCH command, and
the travel distance that is stored in the acceleration/deceleration filter is
continued.
Continued on next page.
Continued from previous page.
Command
before
Switching
Command
after
Switching
Operation
INTERPOLATE EX_POSING
INTERPOLATE EX_POSING
INTERPOLATE
Stop to change the SERVOPACK parameters
related to external positioning
Motion command
Motion command
response
EX_POSING
INTERPOLATE ZRET
INTERPOLATE ZRET
ZRET
INTERPOLATE
Stop to change the SERVOPACK parameters
related to the origin return operation
Motion command
Motion command
response
INTERPOLATE LATCH
INTERPOLATE LATCH
INTERPOLATE
LATCH
The reference value of the LATCH command
is output, regardless of the current speed
when the command is switched.
The acceleration/deceleration lter also
continues operation.
Motion command
Motion command
response