Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 306)

7.2 Motions After Switching Motion Commands
7.2.10 Switching from TRQ
7-36
TRQ
INTERPOLATE
The axis will decelerate to a stop in position control mode. When the axis stops, TRQ will
switch to INTERPOLATE.
<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 change from torque
control mode to position control mode. The moving amount stored in the acceleration/
deceleration filter will be reset to 0.
After TRQ has switched to FEED, the FEED command will be executed with-
out the acceleration/deceleration filter. To enable the acceleration/decelera-
tion filter, hold the TRQ operation by executing an NOP command or other
commands. Then, when the Discharging Completed bit (IW
0C, bit 0)
turns ON, execute a FEED command.
Switched From Switched To Operation
TRQ
TRQ INTERPOLATE
TRQ INTERPOLATE
Torque control mode Position control mode
In position control mode, the axis will
decelerate to a stop from the speed
when the motion command is switched.
INTERPOLATE
Motion command
Motion command
response
TRQ FEED
TRQ FEED
Torque control mode Position control mode
TRQ FEED
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 FEED.)
The acceleration/deceleration filter
will be cancelled.
Motion command
Motion command
response