Mitsubishi Electric RD77MS2 - Operation of Speed-Torque Control

7 EXPANSION CONTROL
7.1 Speed-torque Control
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Operation of speed-torque control
Switching of control mode (Speed control/Torque control)
■Switching method of control mode
To switch the control mode to the speed control or the torque control, set "1" in "[Cd.138] Control mode switching request"
after setting the control mode in "[Cd.139] Control mode setting".
When the mode is switched to the speed control mode or the torque control mode, the control data used in each control mode
must be set before setting "1" in "[Cd.138] Control mode switching request".
When the switching condition is satisfied at control mode switching request, "30: Control mode switch" is set in "[Md.26] Axis
operation status", and the BUSY signal turns ON. "0" is automatically stored in "[Cd.138] Control mode switching request" by
Simple Motion module after completion of switching.
The warning "Control mode switching during BUSY" (warning code: 09E6H) or "Control mode switching during zero speed
OFF" (warning code: 09E7H) occurs if the switching condition is not satisfied, and the control mode is not switched.
The following shows the switching condition of each control mode.
*1 BUSY signal is OFF.
*2 ZERO speed ([Md.119] Servo status2: b3) is ON.
n: Axis No. - 1
*3 The control mode can be changed without checking the switching condition of "during motor stop" in Simple Motion module by setting "1:
Zero speed ON condition invalid (for switching control mode)" in "Condition selection at mode switching (b12 to b15)" of "[Pr.90]
Operation setting for speed-torque control mode". Set "1: Zero speed ON condition invalid (for switching control mode)" only when
switching the control mode without waiting for the servomotor to stop.
The history of control mode switching is stored to the start history at request of control mode switching. (Page 468
System monitor data)
Confirm the control mode with "control mode ([Md.108] Servo status1: b2, b3)" of "[Md.108] Servo status". (Page 477
Axis monitor data)
n: Axis No. - 1
Switching operation Switching condition
1) Position control mode  Speed control mode Not during positioning
*1
and during motor stop
*2*3
2) Speed control mode  Position control mode During motor stop
*2*3
3) Position control mode  Torque control mode Not during positioning
*1
and during motor stop
*2*3
4) Torque control mode  Position control mode During motor stop
*2*3
5) Speed control mode  Torque control mode None
6) Torque control mode  Speed control mode
Monitor item Buffer memory address
[Md.119] Servo status2: b3 2476+100n
Monitor item Buffer memory address
[Md.108] Servo status1: b2, b3 2477+100n
Speed control mode Torque control mode
5)
6)
Position control mode
2) 3)1) 4)