7.2 Motions After Switching Motion Commands
7.2.1 Switching from POSING
7-8
POSING
ZSET
POSING will immediately switch to ZSET, and positioning will continue.
In actual operation, set the zero point by executing ZSET in the positioning
completed status.
VELO
POSING will immediately switch to VELO and the control mode will change from posi-
tion control mode to speed control mode. The moving amount stored in the acceleration/
deceleration filter will be reset to 0.
After POSING has switched to VELO, the VELO command will be executed
without the acceleration/deceleration filter. To enable the acceleration/decel-
eration filter, hold the POSING operation by executing an NOP command, or
other commands. Then, when the Discharging Completed bit (IW0C, bit
0) turns ON, execute the VELO command.
TRQ
POSING will immediately switch to TRQ and the control mode will switch from position
control mode to torque control mode. The moving amount stored in the acceleration/decel-
eration filter will be reset to 0.
After POSING has switched to TRQ, the TRQ command will be executed
without the acceleration/deceleration filter. This is because TRQ is a motion
command for which the acceleration/deceleration filter is disabled.
(cont’d)
Switched From Switched To Operation
POSING
operation
continues
POSING
POSING ZSET
POSING ZSET
Motion command
Motion command
response
POSING
POSING VELO
POSING VELO
Canceled
POSING operation
VELO
Position control mode Speed control mode
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
canceled.
Motion command
Motion command
response
POSING
POSING TRQ
POSING TRQ
Canceled
POSING operation
TRQ
Position control mode Torque control mode
The reference value of the TRQ command
will be output as is regardless of the speed
at the time the motion command is
switched to TRQ.
Motion command
Motion command
response
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