Yaskawa JAPMC-MC2300 - Manual (Page 233)

8.1 Switchable Motion Commands
8.1.2 Switching from POSING
8-6
POSING
VELO
(cont’d)
(2) When Not Using the Accel/Decel Filter for VELO Command
TRQ
POSING will immediately switch to TRQ and the control mode will be changed from
position control mode to torque control mode. The moving amount stored in the accel/
decel filter will be reset to 0.
After POSING has switched to TRQ, the TRQ command will be executed
without the accel/decel filter. This is because TRQ is a motion command for
which the accel/decel filter is disabled.
PHASE
POSING will immediately switch to PHASE, and the control mode will be changed from
position control mode to phase control mode.
The moving amount stored in the accel/decel filter will be reset to 0.
• After POSING has switched to PHASE, the PHASE command will be executed
without the accel/decel filter. This is because PHASE is a motion command for
which the accel/decel filter is disabled.
Switched From Switched To Operation
POSING
POSING Motion command
Motion command
response
VELO
POSING VELO
VELO
Position control mode Speed control mode
Cancelled POSING
operation
The accel/decel filter for
POSING command will be
cancelled.
The speed will smoothly change.
The speed at the time the motion
command is switched will increase/
decrease until it reaches the VELO
target speed.
POSING
POSING TRQ
POSING TRQ
Cancelled
POSING operation
TRQ
Position control mode Torque control mode
The reference value of the TRQ command
will be output as it is regardless of the
speed at the time the motion command is
switched to TRQ.
Motion command
Motion command
response
Cancelled
POSING
operation
The reference value of the PHASE
command will be output as it is
regardless of the speed at the time the
motion command is switched to PHASE.
POSING PHASE
POSING PHASE
POSING PHASE
Position control mode Phase control mode
Motion command
Motion command
response