Yaskawa JAPMC-MC2300 - Manual (Page 262)

8.1 Switchable Motion Commands
8.1.11 Switching from TRQ
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8
Switching Commands during Execution
TRQ PHASE
TRQ will immediately switch to PHASE, and the control mode will be changed from
torque/thrust control mode to phase control mode. The moving amount stored in the accel/
decel filter will be reset to 0.
After TRQ 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
TRQ PHASE
TRQ PHASE
Torque
control mode
Phase control mode
TRQ 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