Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 312)

7.2 Motions After Switching Motion Commands
7.2.11 Switching from PHASE
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PHASE
VELO
PHASE will immediately switch to VELO, and the control mode will change from phase
control mode to speed control mode. The moving amount stored in the acceleration/decel-
eration filter will be reset to 0.
After PHASE has switched to VELO, the VELO command will be executed
without the acceleration/deceleration filter. To enable the acceleration/decel-
eration filter, hold the PHASE 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
PHASE will immediately switched to TRQ, and the control mode will be changed from
phase control mode to torque control mode.
PHASE PHASE operation will continue.
Switched From Switched To Operation
PHASE VELO
PHASE VELO
Phase control mode Speed control mode
PHASE VELO
T he 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.)
T he acceleration/deceleration filter will
be cancelled.
Motion command
Motion command
response
PHASE TRQ
PHASE TRQ
Phase control mode Torque control mode
PHASE TRQ
The reference value of the TRQ command
will be output as is regardless of the speed
when the motion command is switched.
Motion command
Motion command
response