4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
4-150
EX_POSING
VELO
The motion command switches to the VELO command after the axis decel-
erates to a complete stop, and the control mode switches from position
control to speed control.
TRQ
The motion command switches to the TRQ command after the axis decel-
erates to a complete stop, and the control mode switches from position
control to torque control.
Precautions
After switching the command, the TRQ command operates without the
acceleration/deceleration filter because the acceleration/deceleration filter
is disabled for the TRQ command.
PHASE
The motion command switches to the PHASE command after the axis
decelerates to a complete stop, and the control mode switches from posi-
tion control to phase control.
EX_FEED Same as for the FEED command.
Continued from previous page.
Command
before
Switching
Command
after
Switching
Operation
EX_POSING
EX_POSING VELO
EX_POSING VELO
VELO
Canceled part of
EX_POSING operation
Motion command
Motion command
response
Position Control Mode
Speed Control Mode
EX_POSING
TRQ
EX_POSING
TRQ
EX_POSING
TRQ
Canceled part of
EX_POSING operation
Motion command
Motion command
response
Position Control Mode
Torque Control Mode
EX_POSING
EX_POSING PHASE
EX_POSING PHASE
PHASE
The reference value of the PHASE command
is output regardless of the current speed
when the command is switched.
Canceled part of
EX_POSING operation
Motion command
Motion command
response
Position Control Mode
Phase Control Mode
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