7.2 Motions After Switching Motion Commands
7.2.7 Switching from STEP
7-27
Switching Commands during Execution
STEP
ZSET
STEP 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
STEP 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 STEP 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 STEP 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
STEP 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/decel-
eration filter will be reset to 0.
After STEP 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.
(cont’d)
Switched From Switched To Operation
STEP operation
will continue.
STEP
STEP ZSET
STEP ZSET
Motion command
Motion command
response
STEP
STEP VELO
STEP 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
STEP
STEP TRQ
STEP TRQ
Position control mode Torque control mode
TRQ
The reference value of the TRQ command
will be output as is regardless of the
speed the motion command is switched.
Motion command
Motion command
response
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