YASKAWA MP2000 Series User Manual page 259

Switched From Switched To
FEED
(cont'd)
TRQ
STEP
(2) When Not Using the Accel/Decel Filter for FEED Command
The speed will smoothly change.
The speed at the time the motion
command is switched will increase/
decrease until it reaches the FEED target
speed.
The accel/decel filter will be cancelled.
Motion command
Motion command
response
Torque
control mode
TRQ will immediately switch to STEP, and the control mode will be changed from torque/
thrust control mode to position control mode.
 STEP switched from TRQ starts its operation with the empty accel/decel filter.
Therefore, when the accel/decel filter is set for STEP command, the speed
will not smoothly change, and the distribution will be started from the state
Speed = 0 (see (1).) To change the speed smoothly, do not set the filter for
STEP command (see (2).)
(1) When Using the Accel/Decel Filter for STEP Command
Distribution will start from the state
Speed = 0 since the accel/decel
filter is empty.
Motion command
Motion command
response
(2) When Not Using the Accel/Decel Filter for STEP Command
The speed will smoothly change.
The speed at the time the motion com-
mand is switched will increase/decrease
until it reaches the STEP target speed.
The accel/decel filter will be cancelled.
Motion command
Motion command
response
8.1 Switchable Motion Commands
8.1.11 Switching from TRQ
Operation
TRQ FEED
TRQ FEED
TRQ FEED
Position control mode
TRQ STEP
TRQ STEP
TRQ STEP
Torque
Position control mode
control mode
TRQ STEP
TRQ STEP
TRQ STEP
Torque
Position control mode
control mode
8
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