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Chapter 12 Expansion Control
Operation for "Speed 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 speed control mode to continuous operation 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
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.
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