12 - 14
Chapter 12 Expansion Control
[2] Switching of control mode (Continuous operation to torque control)
Switching method of control mode
Set "1" in "
Cd.138 Control mode switching request" after setting the control mode in
"
Cd.139 Control mode setting" (30: Continuous operation to torque control mode) to
switch from position control mode or speed control mode to continuous operation
to torque control.
The selected control mode can be checked in "
Md.26 Axis operation status".
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.
The following shows the switching condition of continuous operation to torque
control mode.
Speed control mode
2)1)
Position control mode
Continuous operation
to torque control mode
4)3)
Continuous operation
to torque control mode
6)5)
Torque control mode
Continuous operation
to torque control mode
Switching operation Switching condition
1)
Position control mode
Continuous operation to
torque control mode
Not during positioning
(Note-1)
or during following
positioning mode
• ABS1 : 1-axis linear control (ABS)
• INC1 : 1-axis linear control (INC)
• FEED1 : 1-axis fixed-feed control
• VF1 : 1-axis speed control (Forward)
• VR1 : 1-axis speed control (Reverse)
• VPF : Speed-position switching control (Forward)
• VPR : Speed-position switching control (Reverse)
• PVF : Position-speed switching control (Forward)
• PVR : Position-speed switching control (Reverse)
2)
Continuous operation to torque control mode
Position control mode
During motor stop
(Note-2)
3)
Speed control mode
Continuous operation to
torque control mode
4)
Continuous operation to torque control mode
Speed control mode
None
5)
Torque control mode
Continuous operation to
torque control mode
6)
Continuous operation to torque control mode
Torque control mode
Switching is impossible.
(Note-1): BUSY signal is OFF.
(Note-2): ZERO speed (Low-order buffer memory address: b3 of "
Md.108 Servo status") is ON. The control mode
can be changed without checking the switching condition of "during motor stop" in QD77MS by setting "1:
Zero speed ON condition invalid (for switching control mode)" in "Condition selection at mode switching
(b12 to b15)" of "
Pr.90 Operation setting for speed-torque control mode". However, set "1: Zero speed ON
condition invalid (for switching control mode)" to switch control mode without waiting for stop of
servomotor.
Buffer memory address (Low-order)
QD77MS2/QD77MS4 QD77MS16
Md.108 Servo status: b3
876+100n 2476+100n
n: Axis No.-1
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