4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
4-172
VELO
STEP
The motion command immediately switches to the STEP command, and
the control mode switches from speed control to position control. The travel
distance that is stored in the acceleration/deceleration filter is canceled.
ZSET
The ZSET command is executed when the axis has decelerated to a com-
plete stop.
VELO The VELO operation continues.
TRQ
The motion command immediately switches to the TRQ command, and the
control mode switches from speed control to torque control. The travel dis-
tance that is stored in the acceleration/deceleration 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.
Continued on next page.
Continued from previous page.
Command
before
Switching
Command
after
Switching
Operation
VELO
VELO STEP
VELO STEP
STEP
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the STEP
command based on the current speed
when the command was switched.)
The acceleration/deceleration lter is
disabled.
Motion command
Motion command
response
Speed Control Mode Position Control Mode
STEP Travel Distance
VELO
VELO ZSET
VELO ZSET
A machine coordinate
system is created based
on the position where the
axis decelerated to a stop.
Motion command
Motion command
response
Speed Control Mode
Position Control Mode
VELO
VELO TRQ
VELO TRQ
TRQ
The reference value of the TRQ command
is output, regardless of the current speed
when the command is switched.
Motion command
Motion command
response
Speed Control Mode Torque Control Mode
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