YASKAWA SVC User Manual page 305

4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
Command
before
Switching
FEED
4-162
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.
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 FEED 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. The
control mode changes 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.
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
Operation
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.
FEED VELO
FEED VELO
FEED VELO
Position Control Mode Speed Control Mode
FEED TRQ
FEED TRQ
FEED TRQ
Position Control Mode Torque Control Mode
FEED PHASE
FEED PHASE
FEED PHASE
Position Control Mode Phase Control Mode
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