YASKAWA SVC - Page 307

4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
4-164
Switching from the STEP Motion Command
This section describes the operation when switching to another command during execution of
the STEP command.
Command
before
Switching
Command
after
Switching
Operation
STEP
NOP
The motion command switches to the NOP command after the axis decel-
erates to a complete stop.
POSING
The motion command immediately switches to the POSING command, and
the travel distance that is stored in the acceleration/deceleration filter is
continued.
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
Continued on next page.
STEP
STEP NOP
STEP NOP
Motion command
Motion command
response
STEP
STEP POSING
STEP POSING
POSING
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the POSING
command based on the current speed
when the command was switched.)
The acceleration/deceleration lter also
continues operation.
Motion command
Motion command
response