YASKAWA SVC User Manual page 289

4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
Command
before
Switching
POSING
4-146
Command
after
Switching
The motion command immediately switches to the VELO command, and
the control mode switches from position control to speed control. The travel
distance that is stored in the acceleration/deceleration filter is canceled.
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the VELO
command based on the current speed
when the command was switched.)
The acceleration/deceleration filter is
disabled.
VELO
Motion command
Motion command
response
Precautions
After switching to VELO, the VELO command operates without the acceler-
ation/deceleration filter. To enable the acceleration/deceleration filter, hold
the POSING operation by executing the NOP command. Then, check that
bit 0 (Distribution Completed) in IW0C is 1 (Completed) before you
execute the VELO command.
The motion command immediately switches to the TRQ command, and the
control mode switches from position control to torque control. The travel
distance that is stored in the acceleration/deceleration filter is canceled.
The reference value of the TRQ command
is output regardless of the current speed
when the command is switched.
TRQ
Motion command
Motion command
response
Precautions
After switching the command, the TRQ command operates without the
acceleration/deceleration filter because the acceleration/deceleration filter
is disabled for the TRQ command.
The motion command immediately switches to the PHASE command, and
the control mode switches from position control to phase control.
The reference value of the PHASE
command is output regardless of the current
speed when the command is switched.
PHASE
Motion command
Motion command
response
EX_FEED Same as for the FEED command.
Operation
Canceled part of
POSING operation
POSING VELO
POSING VELO
POSING VELO
Speed Control Mode
Position Control Mode
Canceled part of
POSING operation
POSING TRQ
POSING TRQ
POSING TRQ
Position Control Mode Torque Control Mode
Canceled part of
POSING operation
POSING PHASE
POSING PHASE
POSING PHASE
Position Control Mode Phase Control Mode
Continued from previous page.