Yaskawa JAPMC-MC2300 - Manual (Page 247)

8.1 Switchable Motion Commands
8.1.7 Switching from FEED
8-20
FEED
VELO
(cont’d)
(2) When Not Using the Accel/Decel Filter for VELO Command
TRQ
FEED will immediately switch to TRQ, and the control mode will be changed from posi-
tion control mode to torque/thrust control mode.
The moving amount stored in the accel/decel filter will be reset to 0.
After FEED 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
FEED 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 FEED 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
FEED
FEED Motion command
Motion command
response
VELO
FEED VELO
VELO
Position control mode Speed control mode
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.
The accel/decel filter for FEED command will be cancelled.
FEED
FEED TRQ
FEED TRQ
Position control mode Torque control mode
TRQ
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
FEED
FEED PHASE
FEED PHASE
Position control mode Phase control mode
PHASE
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.
Motion command
Motion command
response