4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
4-184
EX_FEED
EX_POSING
• Using the Incremental Value Addition Method (When Bit 5 in OW09
Is Set to 0)
The motion command switches to the EX_POSING command after the
axis decelerates to a complete stop.
When execution of the EX_POSING command is started, the related SER-
VOPACK parameters are written, and then the positioning operation
starts.
Incremental value = Target position − IL14 (DPOS)
OL1C = OL1C + Incremental value
Precautions
Any change to OL1C (Position Reference Setting) during deceleration
is ignored.
• Using the Absolute Value Specification Method (When Bit 5 in
OW09 Is Set to 1)
The motion command immediately switches to the EX_POSING com-
mand, and the travel distance that is stored in the acceleration/decelera-
tion filter is continued.
The set value for OL1C (Position Reference Setting) is as follows:
OL1C = Target position
ZRET
The motion command immediately switches to the ZRET command, and
the travel distance that is stored in the acceleration/deceleration filter is
continued.
Continued on next page.
Continued from previous page.
Command
before
Switching
Command
after
Switching
Operation
EX_FEED
EX_FEED EX_POSING
EX_FEED EX_POSING
EX_POSING
Canceled part of
EX_FEED operation
Motion command
Motion command
response
EX_FEED
EX_FEED EX_POSING
EX_FEED 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 also
continues operation.
Motion command
Motion command
response
EX_FEED
EX_FEED ZRET
EX_FEED ZRET
ZRET
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the ZRET
command based on the current speed
when the command was switched.)
The acceleration/deceleration lter also
continues operation.
Canceled part of
EX_FEED operation
Motion command
Motion command
response
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