Mitsubishi Electric QD77MS User Manual page 664

[QD77MS4 operation example]
Cd.138 Control mode switching
request
Cd.139 Control mode setting
Cd.143 Command torque at torque
control mode
Cd.146 Speed limit value at torque
control mode
BUSY signal [XC]
Md.26 Axis operation status
Control mode
( Md.108 Servo status: b2, b3)
Zero speed
( Md.108 Servo status: b3)
Operation for "Position control mode ↔ Torque control mode switching"
When the position control mode is switched to the torque control mode, the
command torque immediately after the 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)
0: Command torque
1: Feedback torque
POINT
When the servo parameter "Function selection C-B POL reflection selection at
torque control (PC29)" is set to "0: Enabled" and "Torque initial value selection" is
set to "1: Feedback torque", the warning "Torque initial value selection invalid"
(warning code: 521) will occur at control mode switching, and the command value
immediately after switching is the same as the case of selecting "0: Command
torque". If the feedback torque is selected, set "1: Disabled" in the servo parameter
"Function selection C-B POL reflection selection at torque control (PC29)".
When the torque control mode is switched to the position control mode, the
command position immediately after the switching is the current feed value at
switching.
The following chart shows the operation timing for axis 1.
Torque
Position control mode
30.0%
20.0%
0
6 to 11ms
0 1
0
0
0
OFF
0
[0, 0]
ON
(Note): Refer to Section 3.3 for input/output signal of QD77MS16 and Chapter 5 for buffer memory address.
Command torque to servo amplifier immediately after switching from
position control mode to torque control mode
The value of "[Cd.143] Command torque at torque control mode" at
switching.
Motor torque value at switching.
Torque control mode
0
20
200 300
50000
ON
30 32
[0, 1]
OFF
12 - 10
Chapter 12 Expansion Control
Position control mode
6 to 11ms
1 0
0
0
30 0
[0, 0]
t