YASKAWA Sigma-7-Series Product Manual page 75

4.2 Setup Procedure
4.2.5 Servo Commands to Use
Movement Direction after Changing to Position Control
during Speed Control, Torque Control, or Constant-Speed
Control
When you change to position control (POSING or EX_POSING) during speed control
(VELCTRL), torque control (TRQCTRL), or constant-speed control (FEED or EX_FEED), the
movement direction for positioning is determined by the setting of Pn87E = n.
ment Method for the Rotational Coordinates).
The following figure gives an example of the operation for changing from speed control to posi-
tion control.
• Changing to Position Control in the Same Direction (Pn87E = n.0) as the Direction of
Speed Control (Direction Specified in the Command)
+ peed
- peed
• Changing to Position Control in a Different Direction (Pn87E = n.0) from the Direction of
Speed Control (Command Reference Direction)
+ peed
- peed
Note: If the Movement Method for Rotational Coordinates (Pn87E = n.
= n.
timing of changing to position control.
4-8
peed control
(Movement direction i determined
by the command (VREF).)
peed control
(Movement direction i determined
by the command (VREF).)

0) or to Positioning by Near Course (Pn87E = n.
Deceleration rate for po ition control
Target po ition (TPO )
Po ition control
(Movement direction i determined
by etting of Pn87E = n. 0.)
Deceleration rate for po ition control
Target po ition (TPO )
Po itioning i completed by
Po ition control
moving in the oppo ite direction.
(Movement direction i determined
by etting of Pn87E = n. 0.)

X) is set to Absolute Positioning (Pn87E

3), the movement direction will depend on the

X (Move-
Time
Time