Yaskawa JAPMC-MC2300 User Manual
Page 259
8.1 Switchable Motion Commands
8.1.11 Switching from TRQ
8-32
TRQ
INTERPOLATE
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 INTERPOLATE when the axis stops after deceleration.
1C) during Deceleration> • In Incremental Addition Mode (OW 09, bit 5 = 0) Any change in the Position Reference Setting (OL 1C) will be ignored. • In Absolute Mode (OW 09, bit 5 = 1) The change in the Position Reference Setting (OL 1C) will be output as soon as the first high-speed scan after INTERPOLATE execution starts. Do not change the Position Reference Setting during deceleration unless it is ENDOF_INTER POLATE Same as INTERPOLATE LATCH Same as INTERPOLATE FEED TRQ will immediately switch to FEED, and the control mode will be changed from FEED switched from TRQ starts its operation with the empty accel/decel filter. (1) When Using the Accel/Decel Filter for FEED Command Switched From Switched To Operation TRQ TRQ Motion command Motion command INTERPOLATE TRQ INTERPOLATE Torque Position control mode In speed control mode, the axis will INTERPOLATE Speed control mode Distribution will start from the state Speed = 0 TRQ Motion command Motion command FEED TRQ FEED Torque Position control mode TRQ FEED
absolutely necessary.
torque/thrust control mode to position control mode.
Therefore, when the accel/decel filter is set for FEED 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
FEED command (see (2).)
response
control mode
decelerate to a stop from the
speed when the motion command is
switched.
since the accel/decel filter is empty.
response
control mode