YASKAWA MP2000 Series User Manual page 267

Switched From Switched To
TRQ
PHASE
PHASE
PHASE will immediately switched to TRQ, and the control mode will be changed from
phase control mode to torque/thrust 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.
Motion command
Motion command
response
Phase control mode
PHASE operation will continue.
8.1 Switchable Motion Commands
8.1.12 Switching from PHASE
Operation
PHASE TRQ
PHASE TRQ
PHASE TRQ
Torque
control mode
8
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