Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 276)

7.2 Motions After Switching Motion Commands
7.2.1 Switching from POSING
7-6
7.2.1 Switching from POSING
Switched From Switched To Operation
POSING
NOP
POSING will switch to NOP when the axis stops after deceleration.
POSING POSING operation continue.
EX_POSING
POSING will immediately switch to EX_POSING. When this happens, the amount of
motion stored in the acceleration/deceleration filter will be output. When execution of
EX_POSING is started, values are written to the related servo parameters and then the
positioning operation starts.
<Change in Position Reference Setting (OL 1C) during Deceleration>
• In Incremental Addition Mode (OW 09, bit 5 = 0)
Any change in the Position Reference Setting (OL 1C) will be ignored.
• In Absolute Mode (OW 09 Bit5 = 1) the value of the Position Reference Setting
(OL 1C) when EX_POSING execution starts will be the target position.
Do not change the Position Reference Setting during deceleration unless it is
absolutely necessary.
Values are written to the related parameters when execution of EX_POSING
starts, so the speed may drop.
ZRET
POSING will immediately switch to ZRET. When this happens, the amount of motion
stored in the acceleration/deceleration filter will be output. When execution of ZRET is
started, values are written to the related servo parameters and then the zero point return
operation starts.
POSING
Cancelled
POSING operation
POSING Motion command
Motion command
response
NOP
POSING NOP
POSING
Cancelled
POSING operation
POSING EX_POSING
POSING EX_POSING
The speed will smoothly change.
(The speed at the time the motion com-
mand is switched will increase/decrease
until it reaches the target speed of
EX_POSING.)
The acceleration/deceleration filter will
be kept valid.
EX_POSING
Motion command
Motion command
response
POSING
Cancelled
POSING operation
POSING ZRET
POSING ZRET
The speed will smoothly change.
(The speed at the time the motion com-
mand is switched will increase/decrease
until it reaches the target speed of ZRET.)
The acceleration/deceleration filter will be
kept valid.
ZRET
Motion command
Motion command
response