YASKAWA SVC - Page 317

4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
4-174
Switching from the TRQ Motion Command
This section describes the operation when switching to another command during execution of
the TRQ command.
Command
before
Switching
Command
after
Switching
Operation
TRQ
NOP
The axis decelerates to a stop in Position Control Mode from the speed
when the motion command was switched. TRQ switches to the NOP com-
mand after the axis completely decelerates.
POSING
The motion command immediately switches to the POSING command, and
the control mode switches from torque control to position control.
The value of OL1C (Position Reference Setting) when the motion
command is switched is as follows:
• Using the Incremental Value Addition Method (When Bit 5 in OW09
Is Set to 0)
Incremental value = Target position − IL14 (DPOS)
OL1C = OL1C + Incremental value
• Using the Absolute Value Specification Method (When Bit 5 in
OW09 Is Set to 1)
OL1C = Target position
Continued on next page.
TRQ NOP
TRQ NOP
TRQ
The axis decelerates to a stop in Position Control
Mode from the speed when the motion
command was switched.
Motion command
Motion command
response
Torque Control Mode
Position Control Mode
TRQ POSING
TRQ POSING
TRQ POSING
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the POSING
command based on the current speed
when the command was switched.)
The acceleration/deceleration lter is
disabled.
Motion command
Motion command
response
Torque Control Mode
Position Control Mode