Yaskawa JAPMC-MC2300 - Manual (Page 251)

8.1 Switchable Motion Commands
8.1.9 Switching from ZSET
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8.1.9 Switching from ZSET
The execution of the ZSET command is completed in one scan if neither Absolute Mode nor infinite length axis are
selected. So, a motion command that is set to be executed while the ZSET command is being carried out will be exe-
cuted as soon as it is issued.
STEP
TRQ
STEP will immediately switch to TRQ, and the control mode will be changed from posi-
tion control mode to torque/thrust control mode.
The moving amount stored in the accel/decel filter will be reset to 0.
After STEP has switched to TRQ, the TRQ command will be executed without
the accel/decel filter. This is because TRQ is a motion command for which the
accel/decel filter is disabled.
PHASE
STEP 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 STEP 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
STEP
STEP TRQ
STEP TRQ
Position control mode Torque control mode
TRQ
The reference value of 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
STEP
STEP PHASE
STEP 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