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7 AUXILIARY AND APPLIED FUNCTIONS
(d) Operation for "Speed control mode ↔ Continuous operation to torque
control mode switching"
When the mode is switched from speed control mode to continuous
operation to torque control mode, the command torque and command speed
immediately after switching are the values set in "Torque initial value
selection at control mode switching" and "Speed 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 continuous operation 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.
Speed initial value selection
at control mode switching
Command speed to servo amplifier immediately after switching from
speed control mode to continuous operation to torque control mode
0: Command speed
The speed to servo amplifier immediately after switching is the speed
during command.
1: Feedback speed Motor speed received from servo amplifier at switching.
2: Automatic selection
The speed to servo amplifier immediately after switching is the lower
speed between "0: Command speed" and "1: Feedback speed".
The following chart shows the operation timing.
-10000
10000
10
V
[1, 0]
3000
1000 -1000010000
[0] [1] [0]
30.0%
Torque
0
Continuous operation to torque
control modeSpeed control mode Speed control mode
30: Continuous operation to torque 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 continuous operation
to torque control: Speed limit
command value)
Continuous operation to
torque control mode (Servo
status3(#8012+20n: b14))
t
1000
0
Contact with target
t
OFF
ON
ON
10: Speed control mode
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