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Chapter 12 Expansion Control
POINT
(1) Automatic switching is valid only when switching from position control mode to
continuous operation to torque control mode. When the mode is switched from
speed control mode to continuous operation to torque control mode or from
continuous operation to torque control mode to other control modes, even if
the automatic switching is set, the state is not waiting for the completion of
condition, and control mode switching is executed immediately.
(2) When the mode switching request is executed after setting switching condition,
the state of waiting for the completion of control mode switching condition
continues until the setting condition is completed. Therefore, when the
positioning by automatic switching is interrupted, unexpected control mode
switching may be executed in other positioning operations. Waiting for the
completion of control mode switching condition can be released by setting
"Other than 1: Not request" in "
Cd.138 Control mode switching request" or the axis
stop signal ON. When an error occurs, waiting for the completion of control
mode switching condition is also released. (In both cases, '0" is stored in
"
Cd.138 Control mode switching request".)
(3) In the state of waiting for the completion of control mode switching condition, if
the current values are updated by the current value changing, fixed-feed
control or speed control (when "2: Clear current feed value to zero" is set in
"
Pr.21 Current feed value during speed control".), an auto-shift judgment is
executed based on the updated current value. Therefore, depending on the
setting condition, the mode may be switched to continuous operation to torque
control mode immediately after positioning start. To avoid this switching, set "1:
Switching request" in "
Cd.138 Control mode switching request".
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