YASKAWA SVC User Manual page 329

4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
Command
before
Switching
EX_FEED
4-186
Command
after
Switching
The motion command immediately switches to the ZSET command, and
the jogging operation continues.
ZSET
Motion command
Motion command
response
Precautions
In actual operation, set the origin by executing ZSET when positioning has
been completed.
The motion command immediately switches to the VELO command, and
the control mode switches from position 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
canceled.
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 EX_FEED operation by executing the NOP command. Then, check that
bit 0 (Distribution Completed) in IW0C is 1 (Completed) before you
execute the VELO command.
The motion command immediately switches to the TRQ command, and the
control mode switches from position control to torque control.
At this time, the travel distance that is stored in the acceleration/decelera-
tion filter is canceled.
TRQ
Motion command
Motion command
response
Precautions
After switching the command, the TRQ command operates without the
acceleration/deceleration filter because the acceleration/deceleration filter
is disabled for the TRQ command.
Operation
The EX_FEED operation continues.
EX_FEED
EX_FEED ZSET
EX_FEED ZSET
EX_FEED VELO
EX_FEED VELO
EX_FEED VELO
Position Control Mode Speed Control Mode
The reference value of the TRQ command
is output, regardless of the current speed
when the command is switched.
EX_FEED TRQ
EX_FEED TRQ
EX_FEED TRQ
Torque Control Mode
Position Control Mode
Continued from previous page.
Continued on next page.