Yaskawa JAPMC-MC2300 - Manual (Page 230)

8.1 Switchable Motion Commands
8.1.2 Switching from POSING
8-3
8
Switching Commands during Execution
8.1.2 Switching from POSING
Switched From Switched To Operation
POSING
NOP
POSING will switch to NOP when the axis stops after deceleration.
POSING POSING operation will continue.
EX_POSING
POSING will immediately switch to EX_POSING, and the moving amount stored in the
accel/decel filter will be maintained.
The value of the Position Reference Setting (OL 1C) when the motion command is
switched will be as follows.
09, bit 5 = 0)>
Incremental value = Target position − IL 14 (DPOS)
OL 1C = OL 1C+ Incremental value
09, bit 5 = 1)>
OL 1C = Target position
ZRET
POSING will switch to ZRET when the axis stops after deceleration.
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 EX_POSING target
speed.
The accel/decel filter will remain valid.
EX_POSING
Motion command
Motion command
response
POSING
POSING Motion command
Motion command
response
ZRET
POSING ZRET
ZRET
Cancelled
POSING operation