12 - 10
Chapter 12 Expansion Control
Operation for "Position control mode ↔ Torque control mode switching"
When the mode is switched from position control mode to torque control mode, the
command torque immediately after switching is the torque set in "Torque initial
value selection (b4 to b7)" of "
Pr.90 Operation setting for speed-torque control mode".
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.
POINT
When the servo parameter "Function selection C-B POL reflection selection during
torque control (PC29)" is set to "0: Valid" and "Torque initial value selection" is set
to "1: Feedback torque", a warning "Torque initial value selection not possible"
(warning code: 521) 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: Invalid" in the servo parameter
"Function selection C-B POL reflection selection during torque control (PC29)".
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