YASKAWA MP2000 Series User Manual page 232

8.1 Switchable Motion Commands
8.1.2 Switching from POSING
Switched From
POSING
8-6
Switched To
(2) When Not Using the Accel/Decel Filter for VELO Command
VELO
(cont'd)
Motion command
Motion command
response
POSING will immediately switch to TRQ and the control mode will be changed from
position control mode to torque control mode. The moving amount stored in the accel/
decel filter will be reset to 0.
TRQ
Motion command
Motion command
response
 After POSING has switched to TRQ, the TRQ command will be executed
without the accel/decel filter. This is because TRQ is a motion command for
which the accel/decel filter is disabled.
POSING will immediately switch to PHASE, and the control mode will be changed from
position control mode to phase control mode.
The moving amount stored in the accel/decel filter will be reset to 0.
PHASE
Motion command
Motion command
response
• After POSING has switched to PHASE, the PHASE command will be executed
without the accel/decel filter. This is because PHASE is a motion command for
which the accel/decel filter is disabled.
Operation
The speed will smoothly change.
The speed at the time the motion
command is switched will increase/
decrease until it reaches the VELO
target speed.
POSING
POSING
POSING
Position control mode
Speed control mode
The reference value of the TRQ command
will be output as it is regardless of the
speed at the time the motion command is
switched to TRQ.
POSING
POSING
POSING
Position control mode
The reference value of the PHASE
command will be output as it is
regardless of the speed at the time the
motion command is switched to PHASE.
POSING
POSING
POSING
Position control mode Phase control mode
Cancelled POSING
operation
The accel/decel filter for
POSING command will be
cancelled.
VELO
VELO
VELO
Cancelled
POSING operation
TRQ
TRQ
TRQ
Torque control mode
Cancelled
POSING
operation
PHASE
PHASE
PHASE