Mitsubishi Electric MELSEC-Q Series - Page 472

7 - 27
7 AUXILIARY AND APPLIED FUNCTIONS
(e) Operation for "Speed control mode ↔ Torque control mode switching"
When the mode is switched from speed 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 speed 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 speed control
mode, the command speed immediately after switching is the motor speed
at switching.
The following chart shows the operation timing.
0
0
10
0 200 0
[1, 0] [0, 1] [1, 0]
t
t
V
0 3000020000 10000 0
OFF
ON
ON
30000
20000
20.0%
Torque
Speed control mode
Torque control mode
Speed control mode
20: Torque control mode 10: Speed 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
(During torque control:
Speed limit command value)