Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 292)

7.2 Motions After Switching Motion Commands
7.2.6 Switching from FEED
7-22
FEED
EX_POSING
<In Incremental Addition Mode (OW 09, bit 5 = 0)>
FEED will switch to EX_POSING when the axis stops after deceleration.
When execution of EX_POSING is started, values are written to the related servo parame-
ters and then the positioning operation starts.
Incremental value = Target position − IL 14 (DPOS)
OL 1C = OL 1C + Incremental value
Any change in Position Reference Setting (OL 1C) during deceleration will
be ignored.
<In Absolute Mode (OW 09, bit 5 = 1)>
FEED will immediately switch to EX_POSING, and the moving amount stored in the
acceleration/deceleration filter will be maintained.
The set value of Position Reference Setting (OL 1C) will be:
OL 1C = Target position
ZRET
FEED will immediately switch to ZRET, and the moving amount stored in the accelera-
tion/deceleration filter will be maintained.
Switched From Switched To Operation
Cancelled FEED
operation
FEED
FEED EX_POSING
FEED EX_POSING
EX_POSING
Motion command
Motion command
response
FEED
FEED EX_POSING
FEED 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
remain valid.
EX_POSING
Motion command
Motion command
response
FEED
Cancelled FEED
operation
FEED ZRET
FEED 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
remain valid.
ZRET
Motion command
Motion command
response