Yaskawa JAPMC-MC2300 - Manual (Page 260)

8.1 Switchable Motion Commands
8.1.11 Switching from TRQ
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8
Switching Commands during Execution
TRQ
FEED
(cont’d)
(2) When Not Using the Accel/Decel Filter for FEED Command
STEP
TRQ will immediately switch to STEP, and the control mode will be changed from torque/
thrust control mode to position control mode.
STEP switched from TRQ starts its operation with the empty accel/decel filter.
Therefore, when the accel/decel filter is set for STEP 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
STEP command (see (2).)
(1) When Using the Accel/Decel Filter for STEP Command
(2) When Not Using the Accel/Decel Filter for STEP Command
Switched From Switched To Operation
TRQ FEED
TRQ FEED
Torque
control mode
Position control mode
TRQ FEED
The speed will smoothly change.
The speed at the time the motion
command is switched will increase/
decrease until it reaches the FEED target
speed.
The accel/decel filter will be cancelled.
Motion command
Motion command
response
Distribution will start from the state
Speed = 0 since the accel/decel
filter is empty.
TRQ Motion command
Motion command
response
STEP
TRQ STEP
Torque
control mode
Position control mode
TRQ STEP
TRQ STEP
TRQ STEP
Torque
control mode
Position control mode
TRQ STEP
The speed will smoothly change.
The speed at the time the motion com-
mand is switched will increase/decrease
until it reaches the STEP target speed.
The accel/decel filter will be cancelled.
Motion command
Motion command
response