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Chapter 12 Expansion Control
Operation for "Position control mode ↔ Continuous operation to torque
control mode switching"
When the mode is switched to the continuous operation to torque control mode,
the control data used in the control mode must be set 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 when 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 mode is switched from position control mode to continuous operation to
torque control mode, the command torque and command speed immediately after
switching are the values set in "Torque initial value selection (b4 to b7)" and
"speed initial value selection (b8 to b11)" 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 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.
Speed initial value selection
(
Pr.90 : b8 to b11)
Command speed to servo amplifier immediately after switching from
position control mode to continuous operation to torque control mode
0: Command speed
Speed that the position command at switching is converted into the
motor speed.
(When the positioning does not start at switching, 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 lower speed between speed that position command at switching
is converted into the motor speed and motor speed received from
servo amplifier at switching.
POINT
When the mode is switched to continuous operation to torque control mode in
cases where command speed and actual speed are different such as during
acceleration/deceleration or when the speed does not reach command speed due
to torque limit, set "1: Feedback speed" in "Speed initial value selection (b8 to
b11)".
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