YASKAWA SVC - Page 318

4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
4
Motion Control Program Commands and Instructions
4-175
TRQ
EX_POSING
The motion command immediately switches to the EX_POSING command,
and the control mode switches from torque control to position control.
Precautions
After switching to EX_POSING, the EX_POSING command operates with-
out the acceleration/deceleration filter. To enable the acceleration/decelera-
tion filter, hold the TRQ operation by executing the NOP command. Then,
check that bit 0 (Distribution Completed) in IW0C is 1 (Completed)
before you execute the EX_POSING command.
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
ZRET
The axis decelerates to a stop in Position Control Mode, and then the
motion command switches to the ZRET command.
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Continued from previous page.
Command
before
Switching
Command
after
Switching
Operation
TRQ EX_POSING
TRQ EX_POSING
TRQ EX_POSING
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the EX_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
TRQ
TRQ ZRET
TRQ ZRET
ZRET
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