YASKAWA SVC - Page 326

4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
4
Motion Control Program Commands and Instructions
4-183
Switching from the EX_FEED Motion Command
This section describes the operation when switching to another command during execution of
the EX_FEED command.
Command
before
Switching
Command
after
Switching
Operation
EX_FEED
NOP
The motion command switches to the NOP command after the axis decel-
erates to a complete stop.
POSING
• Using the Incremental Value Addition Method (When Bit 5 in OW09
Is Set to 0)
The motion command switches to the POSING command after the axis
decelerates to a complete stop.
Incremental value = Target position − IL14 (DPOS)
OL1C = OL1C + Incremental value
Precautions
Any change to OL1C (Position Reference Setting) during deceleration
is ignored.
• Using the Absolute Value Specification Method (When Bit 5 in
OW09 Is Set to 1)
The motion command immediately switches to the POSING command,
and the travel distance that is stored in the acceleration/deceleration filter
is continued.
The set value for OL1C (Position Reference Setting) is as follows:
OL1C = Target position
Continued on next page.
EX_FEED
EX_FEED NOP
EX_FEED NOP
Motion command
Motion command
response
EX_FEED
EX_FEED POSING
EX_FEED POSING
POSING
Canceled part of
EX_FEED operation
Motion command
Motion command
response
EX_FEED
EX_FEED POSING
EX_FEED 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 also
continues operation.
Motion command
Motion command
response