4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
4-178
TRQ
VELO
The motion command immediately switches to the VELO command, and
the control mode switches from torque control to speed control. The travel
distance that is stored in the acceleration/deceleration filter is canceled.
Precautions
After switching to VELO, the VELO 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 VELO command.
TRQ The TRQ operation continues.
PHASE
The motion command immediately switches to the PHASE command, and
the control mode switches from torque control to phase control. The travel
distance that is stored in the acceleration/deceleration filter is canceled.
Precautions
After switching the command, the PHASE command operates without the
acceleration/deceleration filter because the acceleration/deceleration filter
is disabled for the PHASE command.
EX_FEED Same as for the FEED command.
Continued from previous page.
Command
before
Switching
Command
after
Switching
Operation
TRQ VELO
TRQ VELO
TRQ VELO
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the VELO
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 Speed Control Mode
TRQ PHASE
TRQ PHASE
TRQ PHASE
The reference value of the PHASE command
is output regardless of the current speed
when the command is switched.
Motion command
Motion command
response
Torque Control Mode
Phase Control Mode
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