YASKAWA SVC - Page 309

4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
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STEP
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 immediately switches to the FEED 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
STEP
STEP
INTERPOLATE
STEP INTERPOLATE
INTERPOLATE
Canceled part of
STEP operation
Motion command
Motion command
response
STEP
STEP FEED
STEP FEED
FEED
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the FEED
command based on the current speed
when the command was switched.)
The acceleration/deceleration lter also
continues operation.
Motion command
Motion command
response