4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
4-182
PHASE
VELO
The motion command immediately switches to the VELO command, and
the control mode switches from phase 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 PHASE operation by executing the NOP command. Then, check that bit
0 (Distribution Completed) in IW0C is 1 (Completed) before you exe-
cute the VELO command.
TRQ
The motion command immediately switches to the TRQ command, and the
control mode switches from phase control to torque control.
PHASE The PHASE operation continues.
EX_FEED
The motion command immediately switches to the EX_FEED command,
and the control mode switches from phase control to position control. At
this time, the travel distance that is stored in the acceleration/deceleration
filter is distributed.
When execution of the EX_FEED command is started, the related SERVO-
PACK parameters are written, and then the jogging operation starts.
Continued from previous page.
Command
before
Switching
Command
after
Switching
Operation
PHASE VELO
PHASE VELO
PHASE 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
Phase Control Mode
Position Control Mode
PHASETRQ
PHASETRQ
PHASETRQ
The reference value of the TRQ command
is output, regardless of the current speed
when the command is switched.
Motion command
Motion command
response
Phase Control Mode
Torque Control Mode
PHASE EX_FEED
PHASE EX_FEED
PHASE
EX_FEED
Stop to change the SERVOPACK
parameters related to external
positioning
Motion command
Motion command
response
Phase Control Mode
Position Control Mode
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