YASKAWA SVC - Page 313

4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
4-170
VELO
EX_POSING
The motion command immediately switches to the EX_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 can-
celed.
Precautions
After switching to EX_POSING, the EX_POSING command operates with-
out the acceleration/deceleration filter. To enable the acceleration/decelera-
tion 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 EX_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
ZRET
The motion command switches to the ZRET command after the axis decel-
erates to a complete stop, and the control mode switches from speed con-
trol to position control.
Continued on next page.
Continued from previous page.
Command
before
Switching
Command
after
Switching
Operation
VELO
VELO EX_POSING
VELO 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 is
disabled.
Motion command
Motion command
response
Speed Control Mode Position Control Mode
VELO
VELO ZRET
VELO ZRET
ZRET
Motion command
Motion command
response
Speed Control Mode
Position Control Mode