4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
4
Motion Control Program Commands and Instructions
4-171
VELO
INTERPOLATE
The motion command switches to the INTERPOLATE command after the
axis decelerates to a complete stop, and the control mode switches from
speed control to position control.
Changing OL1C (Position Reference Setting) during Deceleration
• Using the Incremental Value Addition Method (When Bit 5 in OW09
Is Set to 0)
Any change to OL1C (Position Reference Setting) is ignored.
• Using the Absolute Value Specification Method (When Bit 5 in
OW09 Is Set to 1)
The change to OL1C (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 control mode switches from speed control to position control. The travel
distance that is stored in the acceleration/deceleration filter is canceled.
Continued on next page.
Continued from previous page.
Command
before
Switching
Command
after
Switching
Operation
VELO
VELO
INTERPOLATE
VELO
INTERPOLATE
INTERPOLATE
Motion command
Motion command
response
Speed Control Mode
Position Control Mode
VELO
VELO FEED
VELO 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 is
disabled.
Motion command
Motion command
response
Speed Control Mode Position Control Mode
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