Mitsubishi Electric MELSEC-Q Series - Operation of Speed-Torque Control

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7 AUXILIARY AND APPLIED FUNCTIONS
7.7.2 Operation of speed-torque control
(1) Switching of control mode (Speed control/Torque control)
(a) Switching method of control mode
Turn OFF to ON the control mode switching request device after setting the
control mode (10: Speed control mode, 20: Torque control mode) in the
control mode setting device to switch to the speed control or torque control.
When the mode is switched to the speed control mode or torque control
mode, the control data used in each control mode must be set before turning
ON the control mode switching request device.
When the switching condition is satisfied at control mode switching request,
the control mode is switched, and the start accept flag (M2001+n) turns ON.
A minor error (error code: 101, 156) will occur if the switching condition is
not satisfied, and the control mode is not switched.
The following shows the switching condition of each control mode.
Position control mode
Speed control mode Torque control mode
3)4)2)1)
5)
6
)
Switching operation Switching condition
1) Position control mode Speed control mode
Not during positioning
(Note-1)
and during motor stop
(Note-2)
2) Seed control mode Position control mode
During motor stop
(Note-2)
3) Position control mode Torque control mode
Not during positioning
(Note-1)
and during motor stop
(Note-2)
4) Torque control mode Position control mode
During motor stop
(Note-2)
5) Speed control mode Torque control mode
None
6) Torque control mode Speed control mode
(Note-1): The start accept flag (M2001+n) is OFF.
(Note-2): ZERO speed (b3)
of Servo status2 (#8011+20n) is ON.
The control mode can be changed without checking the switching condition of "during motor stop" in
Motion CPU by setting "1: Condition during zero speed at control mode switching: invalid" in "Invalid
selection during zero speed at control mode switching". Set "1: Condition during zero speed at
control mode switching: invalid" to switch the control mode without waiting for stop of servo motor.
Confirm the control mode with "control mode (b2, b3)" of servo status1
(#8010+20n).
1) Control mode (b2, b3) of servo status1 (#8010+20n)
b3 b2 Control mode
0 0 Position control mode
0 1 Speed control mode
1 0 Torque control mode