YASKAWA SVC User Manual page 325

4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
Command
before
Switching
PHASE
4-182
Command
after
Switching
The motion command immediately switches to the VELO command, and
the control mode switches from phase control to speed control. The travel
distance that is stored in the acceleration/deceleration filter is canceled.
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.
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 PHASE operation by executing the NOP command. Then, check that bit
0 (Distribution Completed) in IW0C is 1 (Completed) before you exe-
cute the VELO command.
The motion command immediately switches to the TRQ command, and the
control mode switches from phase control to torque control.
TRQ
Motion command
Motion command
response
PHASE The PHASE operation continues.
The motion command immediately switches to the EX_FEED command,
and the control mode switches from phase control to position control. At
this time, the travel distance that is stored in the acceleration/deceleration
filter is distributed.
When execution of the EX_FEED command is started, the related SERVO-
PACK parameters are written, and then the jogging operation starts.
EX_FEED
Motion command
Motion command
response
Operation
PHASE VELO
PHASE VELO
PHASE VELO
Position Control Mode
Phase Control Mode
The reference value of the TRQ command
is output, regardless of the current speed
when the command is switched.
PHASE TRQ
PHASE TRQ
PHASE TRQ
Phase Control Mode Torque Control Mode
Stop to change the SERVOPACK
parameters related to external
positioning
PHASE EX_FEED
PHASE EX_FEED
PHASE EX_FEED
Phase Control Mode Position Control Mode
Continued from previous page.