4.4 Changing the Command
4.4.2 Operation after Changing the Motion Command
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EX_FEED
ZSET
The motion command immediately switches to the ZSET command, and
the jogging operation continues.
Precautions
In actual operation, set the origin by executing ZSET when positioning has
been completed.
VELO
The motion command immediately switches to the VELO command, and
the control mode switches from position 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 EX_FEED 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 motion command immediately switches to the TRQ command, and the
control mode switches from position control to torque control.
At this time, the travel distance that is stored in the acceleration/decelera-
tion filter is canceled.
Precautions
After switching the command, the TRQ command operates without the
acceleration/deceleration filter because the acceleration/deceleration filter
is disabled for the TRQ command.
Continued on next page.
Continued from previous page.
Command
before
Switching
Command
after
Switching
Operation
EX_FEED
EX_FEED ZSET
EX_FEED ZSET
The EX_FEED operation continues.
Motion command
Motion command
response
EX_FEED
EX_FEED VELO
EX_FEED VELO
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
canceled.
Motion command
Motion command
response
Position Control Mode
Speed Control Mode
EX_FEED
EX_FEED TRQ
EX_FEED TRQ
TRQ
The reference value of the TRQ command
is output, regardless of the current speed
when the command is switched.
Motion command
Motion command
response
Position Control Mode
Torque Control Mode
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