7 EXPANSION CONTROL
7.1 Speed-torque Control
199
7
■Operation for "Position control mode Torque control mode switching"
When the position control mode is switched to the torque control mode, the command torque immediately after the switching
is the torque set in "Torque initial value selection (b4 to b7)" of "[Pr.90] Operation setting for speed-torque control mode".
When the servo parameter "Function selection C-B POL reflection selection at torque control (PC29)" is set to
"0: Enabled" and "Torque initial value selection" is set to "1: Feedback torque", the warning "Torque initial
value selection invalid" (warning code: 09E5H) 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: Disabled" in the servo parameter "Function selection C-B POL reflection selection at torque
control (PC29)".
When the torque control mode is switched to the position control mode, the command position immediately after the switching
is the current feed value at switching.
The following chart shows the operation timing for axis 1.
■RD77MS4 operation example
Torque initial value selection ([Pr.90]: b4 to b7) Command torque to servo amplifier immediately after switching from position
control mode to torque control mode
0: Command torque The value of "[Cd.143] Command torque at torque control mode" at switching.
1: Feedback torque Motor torque value at switching.
0
10 10
0
20 0
0
200 0300
0
3230
30 0
[0, 0]
OFF
ON
[0, 1] [0, 0]
t
Torque
30.0%
20.0%
[Cd.138] Control mode switching request
[Cd.139] Control mode setting
[Cd.143] Command torque at torque
control mode
[Md.26] Axis operation status
BUSY signal [X10]
Control mode
([Md.108] Servo status1: b2, b3)
Position control mode
Torque control mode
Position control mode
50000
[Cd.146] Speed limit value at torque
control mode
0
Zero speed
([Md.119] Servo status2: b3)
ON
OFF
0
6 to 11 ms 6 to 11 ms
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