Yaskawa JAPMC-MC2300 - Manual (Page 258)

8.1 Switchable Motion Commands
8.1.11 Switching from TRQ
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8
Switching Commands during Execution
TRQ
EX_POSING
TRQ will immediately switch to EX_POSING, and the control mode will be changed from
torque/thrust control mode to position control mode. The moving amount stored in the
accel/decel filter will be reset to 0.
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
EX_POSING switched from TRQ starts its operation with the empty accel/
decel filter. Therefore, when the accel/decel filter is set for EX_POSING com-
mand, 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 EX_POSING command (see (2).)
(1) When Using the Accel/Decel Filter for EX_POSING Command
(2) When Not Using the Accel/Decel Filter for EX_POSING Command
ZRET
The axis will decelerate to a stop in speed control mode, and the control mode will be
changed from speed control mode to position control mode when the axis stops.
TRQ will switch to ZRET when the axis stops after deceleration.
Switched From Switched To Operation
Distribution will start from the
state Speed = 0 since the accel/
decel filter is empty.
TRQ Motion command
Motion command
response
EX_POSING
TRQ EX_POSING
Torque
control mode
Position control mode
TRQ EX_POSING
TRQ EX_POSING
TRQ EX_POSING
Torque
control mode
Position control mode
TRQ EX_POSING
The speed will smoothly change.
The speed at the time the motion com-
mand is switched will increase/decrease
until it reaches the EX_POSING target
speed.
The accel/decel filter will be cancelled.
Motion command
Motion command
response
TRQ
TRQ Motion command
Motion command
response
ZRET
TRQ ZRET
Torque
control mode Position control mode
ZRET
In speed control mode, the axis will
decelerate to a stop from the speed
when the motion command is
switched.
Speed control mode