7.2 Motions After Switching Motion Commands
7.2.6 Switching from FEED
7-24
FEED
VELO
FEED will immediately switch to VELO, and the control mode will change from position
control mode to speed control mode. The moving amount stored in the acceleration/decel-
eration filter will be reset to 0.
After FEED 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 FEED 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
FEED will immediately switch to TRQ, and the control mode will change from position
control mode to torque control mode.
The moving amount stored in the acceleration/deceleration filter will be reset to 0.
After FEED has switched to TRQ, the TRQ command will be executed without
the acceleration/deceleration filter. This is because TRQ is a motion com-
mand for which the acceleration/deceleration filter is disabled.
PHASE
FEED will immediately switch to PHASE, and the control mode will change from posi-
tion control mode to phase control mode.
(cont’d)
Switched From Switched To Operation
FEED
FEED VELO
FEED VELO
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
FEED
FEED TRQ
FEED TRQ
Position control mode
Torque control mode
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
FEED
FEED PHASE
FEED PHASE
Position control mode
Phase control mode
PHASE
The reference value of the PHASE
command will be output as it is regardless
of the speed when the motion command is
switched.
Motion command
Motion command
response
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