YASKAWA SVC User Manual page 324

Command Command
before after
Switching Switching
FEED
PHASE STEP
ZSET
4.4.2 Operation after Changing the Motion Command
The motion command immediately switches to the FEED command, and
the control mode switches from phase control to position control.
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the FEED
command based on the current speed
when the command was switched.)
PHASE
Motion command PHASE
Motion command
PHASE
response
Phase Control Mode
The motion command immediately switches to the STEP command, and
the control mode switches from phase control to position control.
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.)
PHASE
Motion command
PHASE
Motion command PHASE
response
Phase Control Mode
The motion command immediately switches to the ZSET command, and
the control mode switches from phase control to position control.
Output of the amount stored in
the acceleration/deceleration filter
PHASE
Motion command PHASE
Motion command
PHASE
response
Phase Control Mode
Precautions
In actual operation, set the origin by executing ZSET when positioning has
been completed.
4.4 Changing the Command
Continued from previous page.
Operation
FEED
FEED
FEED
Position Control Mode
STEP Travel Distance
STEP
STEP
STEP
Position Control Mode
ZSET
ZSET
Position Control Mode
Continued on next page.
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