YASKAWA SVC - Page 312

4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
4
Motion Control Program Commands and Instructions
4-169
Switching from the VELO Motion Command
This section describes the operation when switching to another command during execution of
the VELO command.
Command
before
Switching
Command
after
Switching
Operation
VELO
NOP
The motion command switches to the NOP command after the axis decel-
erates to a complete stop, and the control mode switches from speed con-
trol to position control.
POSING
The motion command immediately switches to the POSING command, and
the control mode switches from speed control to position control. The travel
distance that is stored in the acceleration/deceleration filter is canceled.
Precautions
After switching to POSING, the POSING command operates without the
acceleration/deceleration filter. To enable the acceleration/deceleration filter,
hold the VELO operation by executing the NOP command. Then, check that
bit 0 (Distribution Completed) in IW0C is 1 (Completed) before you
execute the POSING command.
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.
VELO
VELO NOP
VELO NOP
Motion command
Motion command
response
Speed Control Mode Position Control Mode
VELO
VELO POSING
VELO 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 is
disabled.
Motion command
Motion command
response
Speed Control Mode Position Control Mode