Motion Modes - YASKAWA XTRAWARE - V3.0 Manual

Command Reference
5.3.

Motion Modes

The motion commands are divided into Motion modes as described below.
The current motion mode can be read from the Motion_mode variable.
♦ Position: Motion commands (MOVE, GO, MOVE_D, GO_D) are
calculated and a trajectory movement speed and duration are
determined.
♦ Velocity: The velocity command (SLIDE) can be sent and changed at
any time while keeping acceleration and jerk within the limits defined by
the relevant variables.
♦ Torque: The TORQUE command is immediately applied to the motor.
The torque changing rate being limited by the Torque_slope variable.
♦ Speed Control: A speed control loop is closed on the reference
command instead of the position control loop that is normally used
(SPEED_CONTROL).
♦ Homing: Homing commands (HARD_HOME, HOME_SW, HOME_SW_C,
HOME_C) start an automatic search for the home position according to
the homing parameter values.
♦ Hunting: While in this mode, both the target position and the motion
profile (see section 12.2, Motion Profile) can be adjusted during motion.
The revised settings will be applied even to the motion in progress.
Note that changing the jerk time (see section 12.2.3, Profile Jerk
Smoothing Time) while in hunting mode does not take effect until the
motion mode is changed.
♦ Pulse Train: A reference position command is given by pulse-train
from an external source (MOVE_R).
♦ Analog Speed: A reference speed command is given by analog input
from an external source and the position control loop is closed on the
reference value (SLIDE_ANALOG).
♦ Analog Torque: A reference torque command is given by an analog
input from an external source and the position control loop is closed on
the reference value (TORQUE_ANALOG).
♦ ECAM: In ECAM mode, you specify the position that a slave axis must
reach, depending on the position of a master axis or on the time
elapsed.
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