Chapter 8 Motion Control Function
8.2.5 Switching Control
In motion control module, switching control means real-time control switch between position control / velocity control / torque control.
In case the control mode that is currently being executed (position control, velocity control, torque control) are intended to change to a
different control mode immediately, BufferMode of commands is to be set to Aborting, and relevant motion function block is to be
executed.
1. Position-velocity switching control
When specified speed operation (MC_MoveVelocity) is executed in the axis in absolute/relative position operation, the position
control is switched to velocity control. The velocity at the time of being changed to velocity control is operated continuously
from the velocity operated with the previous position control to the target velocity of the currentvelocity control. The next
operation can be continued by conducting halt (MC_Halt) during operation with velocity control, performing operation stop with
immediate stop (MC_Stop) motion function block or executing other motion function block. .
2. Velocity-position switching control
When absolute/relative/additive position control (MC_MoveAbsolute, MC_MoveRelative, MC_MoveAdditive) motion function
block is executed in the axis in specified speed operation during velocity control, the velocity control is switched to position
control. The velocity at the time of being changed to position control is operated continuously from the velocity operated with
the previous velocity control to the target velocity of the current position control. The next operation can be continued by
conducting halt (MC_Halt) during operation with position control, performing operation stop with immediate stop (MC_Stop)
motion function block or executing other motion function block.
3. Position-torque switching control
When torque control (MC_TorqueControl) motion function block is executed in the axis in absolute/relative position operation
during position control, the position control is switched to torque control. The torque at the time of being changed to torque
control is operated continuously from the current torque value operated with the previous position control to the target torque
of the torque control. The next operation can be continued by conducting halt (MC_Halt) during operation with torque control,
performing operation stop with immediate stop (MC_Stop) motion function block or executing other motion function block.
4. Torque-position switching control
When absolute/relative/additive position control(MC_MoveAbsolute, MC_MoveRelative, MC_MoveAdditive) motion function
block is executed in the axis in torque control operation, the torque control is switched to position control, when torque value is
reduced to 0, and position control continues to operate after a stop. The next operation can be continued by conducting halt
(MC_Halt) during operation with position control, performing operation stop with immediate stop (MC_Stop) motion function
block or executing other motion function block.
5. Velocity –torque switching control
When torque control (MC_TorqueControl) motion function block is executed in the axis in specified speed operation during
velocity control, the velocity control is switched to torque control. The torque at the time of being changed to torque control is
operated continuously from the current torque value operated with the previous velocity control to the target torque of the
torque control. The next operation can be continued by conducting halt (MC_Halt) during operation with torque control,
performing operation stop with immediate stop (MC_Stop) motion function block or executing other motion function block.
6. Torque- velocity switching control
When specified speed operation (MC_MoveVelocity) motion function block is executed in the axis in torque control operation
during speed control, the torque control is switched to velocity control, when torque value is reduced to 0, and velocity control
continues to operate after a stop. The next operation can be continued by conducting halt (MC_Halt) during operation with
velocity control, performing operation stop with immediate stop (MC_Stop) motion function block or executing other motion
function block.
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