Yaskawa JAPMC-MC2300 - Manual (Page 259)

8.1 Switchable Motion Commands
8.1.11 Switching from TRQ
8-32
TRQ
INTERPOLATE
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 INTERPOLATE when the axis stops after deceleration.
<Change in Position Reference Setting (OL 1C) during Deceleration>
• In Incremental Addition Mode (OW 09, bit 5 = 0)
Any change in the Position Reference Setting (OL 1C) will be ignored.
• In Absolute Mode (OW 09, bit 5 = 1)
The change in the Position Reference Setting (OL 1C) will be output as soon as the
first high-speed scan after INTERPOLATE execution starts.
Do not change the Position Reference Setting during deceleration unless it is
absolutely necessary.
ENDOF_INTER
POLATE
Same as INTERPOLATE
LATCH Same as INTERPOLATE
FEED
TRQ will immediately switch to FEED, and the control mode will be changed from
torque/thrust control mode to position control mode.
FEED switched from TRQ starts its operation with the empty accel/decel filter.
Therefore, when the accel/decel filter is set for FEED 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
FEED command (see (2).)
(1) When Using the Accel/Decel Filter for FEED Command
Switched From Switched To Operation
TRQ
TRQ Motion command
Motion command
response
INTERPOLATE
TRQ INTERPOLATE
Torque
control mode Position control mode
In speed control mode, the axis will
decelerate to a stop from the
speed when the motion command is
switched.
INTERPOLATE
Speed control mode
Distribution will start from the state Speed = 0
since the accel/decel filter is empty.
TRQ Motion command
Motion command
response
FEED
TRQ FEED
Torque
control mode
Position control mode
TRQ FEED