Yaskawa JAPMC-MC2300 - Manual (Page 257)

8.1 Switchable Motion Commands
8.1.11 Switching from TRQ
8-30
8.1.11 Switching from TRQ
Switched From Switched To Operation
TRQ
NOP
The axis will decelerate to a stop from the speed when the motion command is switched in
position control mode.
TRQ will switch to NOP when the axis stops after deceleration.
POSING
TRQ will immediately switch to POSING, and the control mode will be changed from
torque/thrust control mode to position control mode.
The value of Position Reference Setting (OL
1C) when the motion command is
switched will be as follows.
<In Incremental Addition Mode (OW 09, bit 5 = 0)>
Incremental value = Target position − IL 14 (DPOS)
OL 1C = OL 1C+ Incremental value
<In Absolute Mode (OW 09, bit 5 = 1)>
OL 1C = Target position
POSING switched from TRQ starts its operation with the empty accel/decel fil-
ter. Therefore, when the accel/decel filter is set for POSING command, the
speed will not smoothly change, and the distribution will be started from the
state Speed = 0 (see (1).) To change the speed smoothly, do not set the filter
for POSING command (see (2).)
(1) When Using the Accel/Decel Filter for POSING Command
(2) When Not Using the Accel/Decel Filter for POSING Command
TRQ Motion command
Motion command
response
NOP
TRQ NOP
Torque
control mode Position control mode
TRQ
In speed control mode, the axis will
decelerate to a stop from the speed when
the motion command is switched.
Speed control mode
Distribution will start from the
state Speed = 0 since the accel/
decel filter is empty.
TRQ Motion command
Motion command
response
POSING
TRQ POSING
Torque
control mode Position control mode
TRQ POSING
TRQ Motion command
Motion command
response
POSING
TRQ POSING
Torque
control mode
Position control mode
TRQ POSING
The speed will smoothly change.
The speed at the time the motion command is
switched will increase/decrease until it reaches
the POSING target speed.
The accel/decel filter will be cancelled.