YASKAWA SVC User Manual page 318

Command Command
before after
Switching Switching
EX_POSING
TRQ
ZRET
4.4.2 Operation after Changing the Motion Command
The motion command immediately switches to the EX_POSING command,
and the control mode switches from torque control to position control.
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the EX_POSING
command based on the current speed
when the command was switched.)
The acceleration/deceleration filter is
disabled.
TRQ
Motion command
TRQ
Motion command
TRQ
response
Torque Control Mode
Precautions
After switching to EX_POSING, the EX_POSING command operates with-
out the acceleration/deceleration filter. To enable the acceleration/decelera-
tion filter, hold the TRQ operation by executing the NOP command. Then,
check that bit 0 (Distribution Completed) in IW0C is 1 (Completed)
before you execute the EX_POSING command.
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
The axis decelerates to a stop in Position Control Mode, and then the
motion command switches to the ZRET command.
The axis decelerates to a stop in Position
Control Mode from the speed when the
motion command was switched.
TRQ
Motion command
TRQ
Motion command
TRQ
response
Torque Control Mode
4.4 Changing the Command
Continued from previous page.
Operation
EX_POSING
EX_POSING
EX_POSING
Position Control Mode
ZRET
ZRET
ZRET
Position Control Mode
Continued on next page.
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