Mitsubishi Electric MELSEC-Q Series - Page 471

7 - 26
7 AUXILIARY AND APPLIED FUNCTIONS
(d) Operation for "Position control mode ↔ Speed control mode switching"
When the mode is switched from position control mode to torque control
mode, the command torque immediately after switching is the torque set in
"torque initial value selection at control mode switching".
Torque initial value selection at
control mode switching
Command torque to servo amplifier immediately after switching
from position control mode to torque control mode
0: Command torque
Immediately after switching the control mode, the value of torque
command device is the torque to servo amplifier regardless of the
command torque time constant.
1: Feedback torque
Motor current value received from servo amplifier at switching is the
torque to servo amplifier.
POINT
When the servo parameter "POL reflection selection at torque control (PC29)" is set
to "0: Valid" and "Torque initial value selection at control mode switching" is set to
"1: Feedback torque", a minor error (error code: 154) will occur at control mode
switching, and the command value immediately after switching is the same as the
case of selecting "0: Command torque". If the feedback torque is selected, set "1:
Invalid" in the servo parameter "POL reflection selection at torque control (PC29)".
When the mode is switched from torque 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
0 200 0300
[0, 0] [0, 1] [0, 0]
t
500000
30.0%
20.0%
0
OFF
ON
OFF
ON
6 to 11ms
Position control mode Torque control mode Position control mode
Torque
20: Torque control mode 0: Position control mode
Control mode switching
request device
Control mode setting device
Control mode (Servo status1
(#8010+20n: b2, b3))
Start accept flag (M2001+n)
Torque command device
Speed command device
(Speed limit command value)
6 to 11ms