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Chapter 12 Expansion Control
Speed during continuous operation to torque control mode
The speed during continuous operation to torque control mode is controlled with
the absolute value of value set in "
Cd.147 Speed limit value at continuous operation to
torque control mode" as command speed. When the speed reaches the absolute
value of "
Cd.147 Speed limit value at continuous operation to torque control mode",
"Speed limit"("
Md.108 Servo status" (low-order buffer memory address): b4) turns
ON.
Buffer memory address (Low-order)
QD77MS2/QD77MS4 QD77MS16
Md.108 Servo status: b4
876+100n 2476+100n
n: Axis No.-1
And, "
Cd.147 Speed limit value at continuous operation to torque control mode" is limited
with "
Pr.8 Speed limit value". If the command speed exceeds speed limit value is
set, a warning "Speed limit value over" (warning code: 501) will occur, and the
operation is controlled with speed limit value.
POINT
The actual motor speed may not reach the command speed depending on the
machine load situation during continuous operation to torque control mode.
Current feed value during continuous operation to torque control mode
"
Md.20 Current feed value", " Md.21 Machine feed value" and " Md.101 Real current
value
" are updated even in continuous operation to torque control mode. If the
current feed value exceeds the software stroke limit, an error "Software stroke limit
+,
-
" (error code: 507, 508) will occur and the operation is switched to position
control mode. Invalidate the software stroke limit to execute one-way feed.
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