200
7 EXPANSION CONTROL
7.1 Speed-torque Control
■Operation for "Speed control mode Torque control mode switching"
When the speed 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 speed control mode, the command speed immediately after the switching is
the motor speed 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 speed
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
10
20
10
0
0
200
0
31 3230 30 31
[1, 0]
ON
[0, 1] [1, 0]
t
Torque
20.0%
[Cd.138] Control mode switching request
[Cd.139] Control mode setting
[Cd.140] Command speed at speed
control mode
[Cd.143] Command torque at torque
control mode
[Md.26] Axis operation status
BUSY signal [X10]
Control mode
([Md.108] Servo status1: b2, b3)
50000
[Cd.146] Speed limit value at torque
control mode
t
V
30000
0
0
Speed control mode Torque control mode Speed control mode
0 3000020000
6 to 11 ms 6 to 11 ms
20000
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