YASKAWA SVC - Page 322

4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
4
Motion Control Program Commands and Instructions
4-179
Switching from the PHASE Motion Command
This section describes the operation when switching to another command during execution of
the PHASE command.
Command
before
Switching
Command
after
Switching
Operation
PHASE
NOP
The motion command immediately switches to the NOP command, and the
travel distance that is stored in the acceleration/deceleration filter is distrib-
uted.
POSING
The motion command immediately switches to the POSING command, and
the control mode switches from phase control to position control.
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.
PHASE NOP
PHASE NOP
PHASE
Output of the amount stored in
the acceleration/deceleration lter
Motion command
Motion command
response
Phase Control Mode Position Control Mode
PHASEPOSING
PHASEPOSING
PHASEPOSING
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.)
Motion command
Motion command
response
Phase Control Mode Position Control Mode