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Chapter 12 Expansion Control
The history of control mode switching is stored to the starting history at request of
control mode switching. (Refer to Section 5.6.1 "System monitor data".)
Confirm the control mode with "control mode (high-order buffer memory address:
b2, b3)" of "
Md.108 Servo status". (Refer to Section 5.6.2 "Axis monitor data".)
Buffer memory address (High-order)
QD77MS2/QD77MS4 QD77MS16
Md.108 Servo status: b2, b3
877+100n 2477+100n
n: Axis No.-1
Precautions at control mode switching
(1) The start complete signal and positioning complete signal do not turn ON at
control mode switching.
(2) "30: Control mode switch", "31: Speed control", or "32: Torque control" is set in
"
Md.26 Axis operation status", the BUSY signal turns ON.
(3) The motor speed might change momentarily at switching from the speed
control mode to torque control mode. Therefore, it recommended to switch
from the speed control mode to torque control mode after the servomotors are
stopped.
(4) Set "2" in the Servo parameter
"For manufacturer setting (PB25)" for the usage
to press with limited torque during speed control mode.
(5) In speed control flag (
Md.31 Status: b0) does not turn ON during speed control
mode in the speed-torque control.
Operation for "Position control mode ↔ Speed control mode switching"
When the mode is switched from position control mode to speed control mode, the
command speed immediately after switching is the speed set in "speed initial value
selection (b8 to b11)" of "
Pr.90 Operation setting for speed-torque control mode".
Speed initial value selection
(
Pr.90 : b8 to b11)
Command speed to servo amplifier immediately after switching from
position control mode to speed control mode
0: Command speed The speed to servo amplifier immediately after switching is "0".
1: Feedback speed Motor speed received from servo amplifier at switching.
2: Automatic selection
The command speed is invalid due to the setting of continuous
operation to torque control mode. At control mode switching,
operation is the same as "0: Command speed".
When the mode is switched from speed control mode to position control mode, the
command position immediately after switching is the current feed value at
switching.
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