YASKAWA SVC User Manual page 320

Command Command
before after
Switching Switching
STEP
TRQ
ZSET
4.4.2 Operation after Changing the Motion Command
The motion command immediately switches to the STEP command, and
the control mode switches from torque control to position control. The
travel distance that is stored in the acceleration/deceleration filter is can-
celed.
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the STEP
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 STEP, the STEP command operates without the accelera-
tion/deceleration filter. To enable the acceleration/deceleration 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 STEP command.
The axis decelerates to a stop in Position Control Mode, and then the ZSET
command is executed.
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
STEP
STEP
STEP
Position Control Mode
A machine coordinate
system is created based
on the position where the
axis decelerated to a stop.
ZSET
ZSET
Position Control Mode
Continued on next page.
4
4-177