YASKAWA SVC - Page 304

4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
4
Motion Control Program Commands and Instructions
4-161
FEED
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 FEED operation continues.
STEP
The motion command switches to the STEP command after the axis decel-
erates to a complete stop.
ZSET
The motion command immediately switches to the ZSET command, and
the jogging operation continues.
Precautions
In actual operation, set the origin by executing ZSET when positioning has
been completed.
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Continued from previous page.
Command
before
Switching
Command
after
Switching
Operation
INTERPOLATE
FEED
FEED
FEED
INTERPOLATE
INTERPOLATE
Canceled part of
FEED operation
Motion command
Motion command
response
FEED
FEED STEP
FEED STEP
STEP
Canceled part of
FEED operation
Motion command
Motion command
response
FEED
FEED ZSET
FEED ZSET
The FEED operation continues.
Motion command
Motion command
response