4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
4
Motion Control Program Commands and Instructions
4-177
TRQ
STEP
The motion command immediately switches to the STEP 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 STEP, the STEP command operates without the accelera-
tion/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 STEP command.
ZSET
The axis decelerates to a stop in Position Control Mode, and then the ZSET
command is executed.
Continued on next page.
Continued from previous page.
Command
before
Switching
Command
after
Switching
Operation
TRQ STEP
TRQ STEP
TRQ 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
Torque Control Mode
Position Control Mode
TRQ ZSET
TRQ ZSET
TRQ
The axis decelerates to a stop
in Position Control Mode from
the speed when the motion
command was switched.
A machine coordinate
system is created based
on the position where the
axis decelerated to a stop.
Motion command
Motion command
response
Torque Control Mode
Position Control Mode
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