Yaskawa YASNAC PC NC Programming Manual - Manual (Page 77)

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YASNAC PCNC Programming Manual Chapter 3: Movement Control Commands
3.3.3 Exact Stop Mode (G61, G64)
The exact stop mode is called by G61. Once G61 is executed, the following blocks are all exe-
cuted in the error detection ON mode until the exact stop mode is canceled by G64.
t Error Detection ON Mode
In the error detection ON mode, the number of lag pulses due to servo delay is checked after the completion
of pulse distribution in linear and circular interpolation, and the program advances to the next block only
after the number of lag pulses has been reduced to the preset value.
t Error Detection OFF Mode
In the normal linear and circular interpolation, which is called in other than the G09 or G61 mode, the pro-
gram advances to the next block immediately after the completion of pulse distribution, causing the comers
to be rounded due to servo lag. This operation mode is called the error detection OFF mode.
t Error Detection ON/OFF for Rapid Traverse Operation
In rapid traverse operation, error detection ON/OFF are controlled only by G00 and G06 and the G codes
explained above are ignored.