Yaskawa JAPMC-MC2300 - Manual (Page 237)

8.1 Switchable Motion Commands
8.1.3 Switching from EX_POSING
8-10
EX_POSING
TRQ
EX_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 EX_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
EX_POSING will immediately switch to PHASE, and the control mode will change from
the position control mode to phase control mode.
The moving amount stored in the accel/decel filter will be reset to 0.
After EX_POSING has switched to PHASE, the PHASE command will be
executed without accel/decel filter. This is because PHASE is a motion com-
mand for which the accel/decel filter is disabled.
Switched From Switched To Operation
EX_POSING
EX_POSING Motion command
Motion command
response
TRQ
EX_POSING TRQ
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.
Cancelled
EX_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.
EX_POSING PHASE
EX_POSING Motion command
Motion command
response
PHASE
EX_POSING PHASE
Position control mode Phase control mode
Cancelled
EX_POSING
operation