YASKAWA SVC - Page 308

4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
4
Motion Control Program Commands and Instructions
4-165
STEP
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
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
Precautions
The speed may decrease because the related parameters are written at the
start of EX_POSING execution.
ZRET
The motion command immediately switches to the ZRET command, and
the travel distance that is stored in the acceleration/deceleration filter is
continued.
Precautions
The speed may decrease because the related parameters are written at the
start of ZRET execution.
Continued on next page.
Continued from previous page.
Command
before
Switching
Command
after
Switching
Operation
STEP
STEP EX_POSING
STEP EX_POSING
EX_POSING
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the EX_POSING
command based on the current speed
when the command was switched.)
The acceleration/deceleration
lter also continues operation.
Motion command
Motion command
response
STEP
STEP ZRET
STEP ZRET
ZRET
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the ZRET
command based on the current speed
when the command was switched.)
The acceleration/deceleration lter also
continues operation.
Canceled part of
STEP operation
Motion command
Motion command
response