Operation Setting For Speed-Torque Control Mode; Speed Initial Value Selection; Condition Selection At Mode Switching - Mitsubishi Electric QD77MS User Manual

[Pr.90] Operation setting for speed-torque control mode
Operation setting of the speed control mode, torque control mode or continuous
operation to torque control mode at the speed-torque control is executed.
(1) Torque initial value selection
Set the torque initial value at switching to torque control mode or to
continuous operation to torque control mode.
0: Command torque ......... Command torque value at switching. (following axis
1: Feedback torque .......... Motor torque value at switching.

(2) Speed initial value selection

Set the initial speed at switching from position control mode to speed control
mode or the initial speed at switching from position control mode or from
speed control mode to continuous operation to torque control mode.
0: Command speed ......... Speed that position command at switching is
1: Feedback speed .......... Motor speed received from servo amplifier at
2: Automatic selection ...... The lower speed between speed that position

(3) Condition selection at mode switching

Set the valid/invalid of switching conditions for switching control mode.
0: Switching conditions valid (for switching control mode)
1: Zero speed ON condition invalid (for switching control mode)
Note) The "Operation setting for speed-torque control mode" is included in detailed
parameters 2, but it will be valid at the rising edge (OFF to ON) of the PLC
READY signal [Y0].
POINT
Set "1: Zero speed ON condition invalid (for switching control mode)" to switch
the control mode without waiting for the servo motor to stop. Note that it may
cause vibration or impact at control switching.
Chapter 5 Data Used for Positioning Control
control data)
Switching to torque control mode:
"[Cd.143] Command torque at torque control mode"
Switching to continuous operation to torque control
mode:
"[Cd.150] Target torque at continuous
operation to torque control mode"
converted into the motor speed.
switching
command at switching is converted into the motor
speed and motor speed received from servo
amplifier at switching. (This setting is valid only
when continuous operation to torque control mode
is used. At switching from position control mode to
speed control mode, operation is the same as "0:
Command speed".)
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