Yaskawa JAPMC-MC2300 - Manual (Page 256)

8.1 Switchable Motion Commands
8.1.10 Switching from VELO
8-29
8
Switching Commands during Execution
VELO
TRQ
VELO will immediately switch to TRQ, and the control mode will be changed from speed
control mode to torque/thrust control mode. The moving amount stored in the accel/decel
filter will be reset to 0.
After VELO 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
VELO will immediately switch to PHASE, and the control mode will be changed from
speed control mode to phase control mode. The moving amount stored in the accel/decel
filter will be reset to 0.
After VELO 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
VELO
VELO TRQ
VELO TRQ
Speed 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
VELO
VELO PHASE
VELO PHASE
Speed control mode Phase control mode
PHASE
The reference value of the PHASE
command will be output as is regardless
of the speed when the motion command
is switched.
Motion command
Motion command
response