Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 305)

7.2 Motions After Switching Motion Commands
7.2.10 Switching from TRQ
7-35
Switching Commands during Execution
TRQ
EX_POSING
TRQ will immediately switch to EX_POSING, and the control mode will change from
torque control mode to position control mode.
After TRQ has switched to EX_POSING, the EX_POSING command will be
executed without the acceleration/deceleration filter. To enable the accelera-
tion/deceleration filter, hold the TRQ operation by executing an NOP com-
mand or other commands. Then, when the Discharging Completed bit
(IW
0C, bit 0) turns ON, execute an EX_POSING command.
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
ZRET
The axis will decelerate to a stop in position control mode. When the axis stops, TRQ will
switch to ZRET.
Switched From Switched To Operation
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 target speed of
EX_POSING.)
The acceleration/deceleration filter
will be cancelled.
Motion command
Motion command
response
TRQ
TRQ ZRET
TRQ ZRET
Torque control mode Position control mode
ZRET
In position control mode, the axis will
decelerate to a stop from the speed when
the motion command is switched.
Motion command
Motion command
response