Yaskawa JAPMC-MC2300 - Manual (Page 243)

8.1 Switchable Motion Commands
8.1.6 Switching from ENDOF_INTERPOLATE or LATCH
8-16
8.1.6 Switching from ENDOF_INTERPOLATE or LATCH
The operations are the same as are described in 8.1.5 Switching from INTERPOLATE on page 8-13.
INTERPOLATE
TRQ
INTERPOLATE 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.
After INTERPOLATE has switched to TRQ, the TRQ command will be exe-
cuted without the accel/decel filter. This is because TRQ is a motion com-
mand for which the accel/decel filter is disabled.
PHASE
INTERPOLATE 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.
After INTERPOLATE 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.
Switched From Switched To Operation
INTERPOLATE
INTERPOLATE TRQ
INTERPOLATE TRQ
Position control mode Torque control mode
TRQ
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
INTERPOLATE
INTERPOLATE PHASE
INTERPOLATE PHASE
Position control mode Phase control mode
PHASE
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.
Motion command
Motion command
response