4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
4
Motion Contr
ol Pr
ogram Command
s
and In
s
truction
s
4-151
Switching from the ZRET Motion Command
This section describes the operation when switching to another command during execution of
the ZRET command.
Command
before
Switching
Command
after
Switching
Operation
ZRET
NOP
The motion command switches to the NOP command after the axis decel-
erates to a complete stop.
POSING
The motion command switches to the POSING command after the axis
decelerates to a complete stop.
Changing OL
1C (Position Reference Setting) during Deceleration
•
Using the Incremental Value Addition Method (When Bit 5 in OW
09
Is Set to 0)
Any change to OL
1C (Position Reference Setting) is ignored.
•
Using the Absolute Value Specification Method (When Bit 5 in
OW
09 Is Set to 1)
The target position is the value of OL
1C (Position Reference Setting)
when execution of the POSING command is started.
Precautions
Do not change the Position Reference Setting parameter during decelera-
tion.
EX_POSING
The motion command switches to the EX_POSING command after the axis
decelerates to a complete stop.
When execution of the EX_POSING command is started, the related SER-
VOPACK parameters are written, and then the positioning operation starts.
Changing OL
1C (Position Reference Setting) during Deceleration
•
Using the Incremental Value Addition Method (When Bit 5 in OW
09
Is Set to 0)
Any change to OL
1C (Position Reference Setting) is ignored.
•
Using the Absolute Value Specification Method (When Bit 5 in
OW
09 Is Set to 1)
The target position is the value of OL
1C (Position Reference Setting)
when execution of the EX_POSING command is started.
Precautions
Do not change the Position Reference Setting parameter during decelera-
tion.
Continued on next page.
ZRET
ZRET
NOP
ZRET
NOP
Canceled part of
ZRET operation
Motion command
Motion command
re
s
pon
s
e
ZRET
ZRET
PO
S
ING
ZRET
PO
S
ING
PO
S
ING
Canceled part of
ZRET operation
Motion command
Motion command
re
s
pon
s
e
ZRET
ZRET
EX_PO
S
ING
ZRET
EX_PO
S
ING
EX_PO
S
ING
Canceled part of
ZRET operation
Motion command
Motion command
re
s
pon
s
e
Summary of Contents for SVC
Page 34: ...2 6 4 Reference Output Timing 2 20 2 6 5 Precautions When Combining with Other Modules 2 21...
Page 383: ...5 2 Absolute Encoders 5 2 6 Position Management Method for Each Machine Operation Type 5 42...
Page 387: ...5 2 Absolute Encoders 5 2 6 Position Management Method for Each Machine Operation Type 5 46...