Yaskawa JAPMC-MC2300 - Manual (Page 234)

8.1 Switchable Motion Commands
8.1.3 Switching from EX_POSING
8-7
8
Switching Commands during Execution
8.1.3 Switching from EX_POSING
Switched From Switched To Operation
EX_POSING
NOP
EX_POSING will switch to NOP when the axis stops after deceleration.
POSING
EX_POSING will immediately switch to POSING. The moving amount stored in the
accel/decel filter will be reset to 0.
The value of Position Reference Setting (OL 1C) when the motion command is
switched will be as follows.
<In Incremental Addition Mode (OW
09, bit 5 = 0)>
Incremental value = Target position − IL 14 (DPOS)
OL 1C = OL 1C + Incremental value
<In Absolute Mode (OW 09, bit 5 = 1)>
OL 1C = Target position
EX_POSING EX_POSING operation will continue.
ZRET
EX_POSING will switch to ZRET when the axis stops after deceleration.
EX_POSING
Cancelled
EX_POSING
operation
EX_POSING NOP
EX_POSING NOP
Motion command
Motion command
response
EX_POSING
Cancelled
EX_POSING
operation
EX_POSING POSING
EX_POSING POSING
The speed will smoothly change.
The speed at the time the motion command
is switched will increase/decrease until it
reaches the POSING target speed.
The accel/decel filter will remain valid.
POSING
Motion command
Motion command
response
EX_POSING
EX_POSING Motion command
Motion command
response
ZRET
EX_POSING ZRET
ZRET
Cancelled
EX_POSING
operation