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Chapter 12 Expansion Control
Operation for switching from "Position control mode to "Continuous
operation to torque control mode" automatically
When the condition set in "
Cd.153 Control mode auto-shift selection" and " Cd.154
Control mode auto-shift parameter" is satisfied, to switch the mode to continuous
operation to torque control mode automatically, set the control data necessary in
continuous operation to torque control mode, "
Cd.153 Control mode auto-shift
selection", and " Cd.154 Control mode auto-shift parameter", set "30: Continuous
operation to torque control mode" in "
Cd.139 Control mode setting", and then set "1:
Switching request" in "
Cd.138 Control mode switching request".
In this case, the current control is continued before the setting condition is
satisfied after control mode switching request, and "2: Waiting for the completion
of control mode switching condition" is set in "
Md.124 Control mode switching status".
When the set condition is satisfied, "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".
"0" is stored in "
Cd.138 Control mode switching request" and " Md.124 Control mode
switching status
" after completion of switching.
If "
Cd.154 Control mode auto-shift parameter" is outside the setting range, an error
"Outside control mode auto-shift switching parameter range" (error code: 551) will
occur at control mode switching request, and the current processing stops. (The
operation stops according to the setting in "
Pr.39 Stop group 3 sudden stop selection"
during the positioning control. The mode is switched to position control during the
speed control, and the operation immediately stops.)
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