YASKAWA SVC - Page 323

4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
4-180
PHASE
EX_POSING
The motion command immediately switches to the EX_POSING command,
and the control mode switches from phase control to position control. At
this time, the travel distance that is stored in the acceleration/deceleration
filter is distributed.
When execution of the EX_POSING command is started, the related SER-
VOPACK parameters are written, and then the positioning operation starts.
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 immediately switches to the ZRET command, and
the control mode switches from phase control to position control. At this
time, the travel distance that is stored in the acceleration/deceleration filter
is distributed.
When execution of ZRET is started, the related SERVOPACK parameters
are written, and then the origin return operation starts.
INTERPOLATE
The motion command immediately switches to the INTERPOLATE com-
mand, and the control mode switches from phase control to position con-
trol.
LATCH Same as the INTERPOLATE command.
Continued on next page.
Continued from previous page.
Command
before
Switching
Command
after
Switching
Operation
PHASE EX_POSING
PHASE EX_POSING
PHASE
Stop to change the SERVOPACK
parameters related to external
positioning
Motion command
Motion command
response
Phase Control Mode
Position Control Mode
EX_POSING
PHASEZRET
PHASEZRET
PHASE
ZRET
Stop to change the SERVOPACK
parameters related to the origin
return operation
Motion command
Motion command
response
Phase Control Mode Position Control Mode
PHASE
PHASE
INTERPOLATE
PHASE INTERPOLATE
INTERPOLATE
Motion command
Motion command
response
Phase Control Mode Position Control Mode