Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 308)

7.2 Motions After Switching Motion Commands
7.2.10 Switching from TRQ
7-38
TRQ
VELO
TRQ will immediately switch to VELO, and the control mode will change from torque
control mode to speed control mode. The moving amount stored in the acceleration/decel-
eration filter will be reset to 0.
After TRQ has switched to VELO, the VELO command will be executed with-
out the acceleration/deceleration filter. To enable the acceleration/decelera-
tion filter, hold the TRQ operation by executing an NOP command or other
commands. Then, when the Discharging Completed bit (IW
0C, bit 0)
turns ON, execute a VELO command.
TRQ TRQ operation will continue.
PHASE
TRQ will immediately switch to PHASE, and the control mode will change from torque
control mode to phase control mode. The moving amount stored in the acceleration/decel-
eration filter will be reset to 0.
After TRQ has switched to PHASE, the PHASE command will be executed
without the acceleration/deceleration filter. This is because PHASE is a
motion command for which the acceleration/deceleration filter is disabled.
Switched From Switched To Operation
TRQ VELO
TRQ VELO
Torque control mode Speed control mode
TRQ VELO
The speed will smoothly change.
(The speed at the time the motion com-
mand is switched will increase/decrease
until it reaches the target speed of VELO.)
The acceleration/deceleration filter
will be cancelled.
Motion command
Motion command
response
T RQ PHASE
T RQ PHASE
T orque control mode Phase control mode
T RQ PHASE
T he reference value of the PHASE command
will be output as is regardless of the speed
when the motion command is switched.
Motion command
Motion command
response