4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
4-176
TRQ
INTERPOLATE
The axis decelerates to a stop in Position Control Mode, and then the
motion command switches to the INTERPOLATE command.
Changing OL1C (Position Reference Setting) during Deceleration
• Using the Incremental Value Addition Method (When Bit 5 in OW09
Is Set to 0)
Any change to OL1C (Position Reference Setting) is ignored.
• Using the Absolute Value Specification Method (When Bit 5 in
OW09 Is Set to 1)
The change to OL1C (Position Reference Setting) is output in the
first high-speed scan after execution of the INTERPOLATE command is
started.
Precautions
Do not change the Position Reference Setting parameter during decelera-
tion.
LATCH
Same as the INTERPOLATE command.
FEED
The motion command immediately switches to the FEED command, and
the control mode switches from torque control to position control. The
travel distance that is stored in the acceleration/deceleration filter is can-
celed.
Precautions
After switching to FEED, the FEED command operates without the acceler-
ation/deceleration filter. To enable the acceleration/deceleration filter, hold
the TRQ operation by executing the NOP command. Then, check that bit 0
(Distribution Completed) in IW0C is 1 (Completed) before you execute
the FEED command.
Continued on next page.
Continued from previous page.
Command
before
Switching
Command
after
Switching
Operation
TRQ
TRQ
INTERPOLATE
TRQ
INTERPOLATE
INTERPOLATE
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 FEED
TRQ FEED
TRQ FEED
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the FEED 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
To Next Page
Loading...
