YASKAWA SVC User Manual page 317

4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
Switching from the TRQ Motion Command
This section describes the operation when switching to another command during execution of
the TRQ command.
Command
before
Switching
TRQ
4-174
Command
after
Switching
The axis decelerates to a stop in Position Control Mode from the speed
when the motion command was switched. TRQ switches to the NOP com-
mand after the axis completely decelerates.
NOP
Motion command
Motion command
response
The motion command immediately switches to the POSING command, and
the control mode switches from torque control to position control.
POSING
Motion command
Motion command
response
The value of OL1C (Position Reference Setting) when the motion
command is switched is as follows:
• Using the Incremental Value Addition Method (When Bit 5 in OW09
Is Set to 0)
Incremental value = Target position − IL14 (DPOS)
OL1C = OL1C + Incremental value
• Using the Absolute Value Specification Method (When Bit 5 in
OW09 Is Set to 1)
OL1C = Target position
Operation
The axis decelerates to a stop in Position Control
Mode from the speed when the motion
command was switched.
TRQ
TRQ NOP
TRQ
Torque Control Mode Position Control Mode
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the POSING
command based on the current speed
when the command was switched.)
The acceleration/deceleration filter is
disabled.
TRQ POSING
TRQ POSING
TRQ POSING
Torque Control Mode Position Control Mode
NOP
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