YASKAWA SVC User Manual page 300

Command Command
before after
Switching Switching
VELO
INTERPOLATE
TRQ
PHASE
4.4.2 Operation after Changing the Motion Command
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.
INTERPOLATE
Motion command
INTERPOLATE
Motion command
INTERPOLATE
response
Position Control Mode
Precautions
After switching to VELO, the VELO command operates without the acceler-
ation/deceleration filter. To enable the acceleration/deceleration filter, hold
the INTERPOLATE 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.
At this time, the travel distance that is stored in the acceleration/decelera-
tion filter is canceled.
The reference value of the TRQ command
is output, regardless of the current speed
when the command is switched.
INTERPOLATE
Motion command
INTERPOLATE
Motion command
INTERPOLATE
response
Position Control Mode
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.
INTERPOLATE
Motion command
INTERPOLATE
Motion command
INTERPOLATE
response
Position Control Mode
4.4 Changing the Command
Continued from previous page.
Operation
VELO
VELO
VELO
Speed Control Mode
TRQ
TRQ
TRQ
Torque Control Mode
PHASE
PHASE
PHASE
Phase Control Mode
Continued on next page.
4
4-157