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7 EXPANSION CONTROL
7.1 Speed-torque Control
■Operation for "Speed control mode Continuous operation to torque control mode
switching"
To switch to the continuous operation to torque control mode, set the control data used in the control mode before setting "1"
in "[Cd.138] Control mode switching request".
When the switching condition is satisfied at control mode switching request, "1: Position control mode - continuous operation
to torque control mode, speed control mode - continuous operation to torque control mode switching" is set in "[Md.124]
Control mode switching status" and the BUSY signal turns ON. (When the control mode switching request is executed while
the BUSY signal is ON, the BUSY signal does not turn OFF but stays ON at control mode switching.)
"0" is automatically stored in "[Cd.138] Control mode switching request" and "[Md.124] Control mode switching status" after
completion of switching.
When the speed control mode is switched to the continuous operation to 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".
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 continuous operation to torque control mode
0: Command torque The value of "[Cd.150] Target torque at continuous operation to torque control mode" at switching.
1: Feedback torque Motor torque value at switching.
t
0 10 10
10 30 10
31 33 30 31
Torque
30.0%
[Cd.138] Control mode switching request
[Cd.139] Control mode setting
[Md.26] Axis operation status
t
V
1000
Speed control mode
Speed control mode
1000 00
ON
BUSY signal [X10]
0 01 1 0
[Md.124] Control mode switching status
[1, 0]
Control mode
OFF
ON
300 00
Contact with target
10000
-10000
0 -1000010000
0
0
6 to 11 ms 6 to 11 ms
Continuous operation to
torque control mode
Continuous operation to torque
control ([Md.125] Servo status3: b14)
[Cd.147] Speed limit value at continuous
operation to torque control mode
[Cd.150] Target torque at continuous
operation to torque control mode
([Md.108] Servo status1: b2, b3)
[Cd.140] Command speed at speed
control mode
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