Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 304)

7.2 Motions After Switching Motion Commands
7.2.10 Switching from TRQ
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7.2.10 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 be switched to NOP when the axis stops after deceleration.
POSING
TRQ will immediately switch to POSING, and the control mode will change from torque
control mode to position control mode.
The value of the 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
TRQ NOP
TRQ NOP
Torque control mode Position control mode
TRQ
In position control mode, the axis will be
decelerated to a stop from the speed when
the motion command is switched.
Motion command
Motion command
response
TRQ 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 target speed of POSING.)
The acceleration/deceleration filter will be
cancelled.
Motion command
Motion command
response