YASKAWA MP2000 Series User Manual page 260

8.1 Switchable Motion Commands
8.1.11 Switching from TRQ
Switched From
TRQ
8-34
Switched To
The axis will decelerate to a stop in speed control mode, and the control mode will be
changed from speed control mode to position control mode when the axis stops.
TRQ will switch to ZSET when the axis stops after deceleration.
ZSET
Motion command
Motion command
response
TRQ will immediately switch to VELO, and the control mode will be changed from
torque/thrust control mode to speed control mode.
 VELO switched from TRQ starts its operation with the empty accel/decel filter.
Therefore, when the accel/decel filter is set for VELO 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
VELO command (see (2).)
(1) When Using the Accel/Decel Filter for VELO Command
Motion command
Motion command
VELO
response
(2) When Not Using the Accel/Decel Filter for VELO Command
Motion command
Motion command
response
TRQ
TRQ operation will continue.
Operation
In speed control mode, the axis will
decelerate to a stop from the speed
when the motion command is switched.
TRQ
TRQ ZSET
TRQ
Torque Position control mode
control mode
Speed control mode
Distribution will start from the
state Speed = 0 since the accel/
decel filter is empty.
TRQ VELO
TRQ VELO
TRQ VELO
Torque
Speed control mode
control mode
The speed will smoothly change.
The speed at the time the motion com-
mand is switched will increase/decrease
until it reaches the VELO target speed.
The accel/decel filter will be cancelled.
TRQ VELO
TRQ VELO
TRQ VELO
Torque
Speed control mode
control mode
A machine coordinate
system will be established
on the base of the position
where the axis stops after
deceleration.
ZSET