4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
4
Motion Control Program Commands and Instructions
4-157
INTERPOLATE
VELO
The motion command immediately switches to the VELO command, and
the control mode switches from position control to speed control.
The travel distance that is stored in the acceleration/deceleration filter is
canceled.
Precautions
After switching to VELO, the VELO command operates without the acceler-
ation/deceleration filter. To enable the acceleration/deceleration filter, hold
the INTERPOLATE operation by executing the NOP command. Then, check
that bit 0 (Distribution Completed) in IW0C is 1 (Completed) before
you execute the VELO command.
TRQ
The motion command immediately switches to the TRQ command, and the
control mode switches from position control to torque control.
At this time, the travel distance that is stored in the acceleration/decelera-
tion filter is canceled.
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 immediately switches to the PHASE command, and
the control mode switches from position control to phase control.
Continued on next page.
Continued from previous page.
Command
before
Switching
Command
after
Switching
Operation
INTERPOLATE
VELO
INTERPOLATE
VELO
VELO
INTERPOLATE
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the VELO
command based on the current speed
when the command was switched.)
The acceleration/deceleration lter is
disabled.
Motion command
Motion command
response
Position Control Mode
Speed Control Mode
INTERPOLATE
TRQ
INTERPOLATE
TRQ
TRQ
INTERPOLATE
The reference value of the TRQ command
is output, regardless of the current speed
when the command is switched.
Motion command
Motion command
response
Position Control Mode
Torque Control Mode
INTERPOLATE
PHASE
INTERPOLATE
PHASE
PHASE
INTERPOLATE
The reference value of the PHASE command
is output regardless of the current speed
when the command is switched.
Motion command
Motion command
response
Position Control Mode
Phase Control Mode
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