Mitsubishi Electric MELSEC-Q Series - Page 470

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7 AUXILIARY AND APPLIED FUNCTIONS
(b) Precautions at control mode switching
1) The positioning start complete signal (M2400+20n) and positioning
complete signal (M2401+20n) do not turn ON at control mode switching.
2) During speed control or torque control, the start accept flag (M2001+n)
turns ON.
3) The motor speed might change momentarily at switching from the speed
control mode to torque control mode. Therefore, it recommended to
switch from the speed control mode to torque control mode after the
servo motors are stopped.
4) Cannot use press with limited torque during speed control mode.
5) In speed controlling signal (M2404+20n) does not turn ON during speed
control mode in the speed-torque control.
(c) Operation for "Position control mode ↔ Speed control mode switching"
When the mode is switched from position control mode to speed control
mode, the command speed immediately after switching is the speed set in
"speed initial value selection at control mode switching".
Speed initial value selection at
control mode switching
Command speed to servo amplifier immediately after switching
from position control mode to speed control mode
0: Command speed The speed to servo amplifier immediately after switching is "0".
1: Feedback speed Motor speed received from servo amplifier at switching.
2: Automatic selection
At control mode switching, operation is the same as "0: Command
speed".
When the mode is switched from speed control mode to position control
mode, the command position immediately after switching is the current feed
value at switching.
The following chart shows the operation timing.
0
30000
20000
0
0 20000 030000
[0, 0] [1, 0] [0, 0]
t
ON
OFF
OFF
V
Position control mode Speed control mode Position control mode
10: Speed control mode 0: Position control mode
Control mode switching
request device
Control mode setting device
Speed command device
Control mode (Servo status1
(#8010+20n: b2, b3))
Zero speed (Servo status2
(#8011+20n: b3))
Start accept flag (M2001+n)
OFF
ON
ON
6 to 11ms
6 to 11ms