YASKAWA SVC - Page 328

4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
4
Motion Control Program Commands and Instructions
4-185
EX_FEED
INTERPOLATE
The motion command switches to the INTERPOLATE command after the
axis decelerates to a complete stop.
Changing OL1C (Position Reference Setting) during Deceleration
• Using the Incremental Value Addition Method (When Bit 5 in OW09
Is Set to 0)
Any change to OL1C (Position Reference Setting) is ignored.
• Using the Absolute Value Specification Method (When Bit 5 in
OW09 Is Set to 1)
The change to OL1C (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 travel distance that is stored in the acceleration/deceleration filter is
continued.
STEP
The motion command switches to the STEP command after the axis decel-
erates to a complete stop.
Continued on next page.
Continued from previous page.
Command
before
Switching
Command
after
Switching
Operation
INTERPOLATE
EX_FEED
EX_FEED
INTERPOLATE
EX_FEED INTERPOLATE
Canceled part of
EX_FEED operation
Motion command
Motion command
response
EX_FEED
EX_FEED FEED
EX_FEED 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 also
continues operation.
Motion command
Motion command
response
EX_FEED
EX_FEED STEP
EX_FEED STEP
STEP
Canceled part of
EX_FEED operation
Motion command
Motion command
response