Operation Of Speed-Torque Control - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

Operation of speed-torque control

Switching of control mode (Speed control/Torque control)
■Switching method of control mode
Turn OFF to ON the control mode switching request device after setting the control mode (10: Speed control mode, 20:
Torque control mode) in the control mode setting device to switch to the speed control or torque control.
When the mode is switched to the speed control mode or torque control mode, the control data used in each control mode
must be set before turning ON the control mode switching request device.
When the switching condition is satisfied at control mode switching request, the control mode is switched, and the "[St.1040]
Start accept flag (R: M30080+n/Q: M2001+n)" turns ON.
A Warning (error code: 09E7H) or minor error (error code: 192AH) will occur if the switching condition is not satisfied, and the
control mode is not switched.
The following shows the switching condition of each control mode.
Position control mode
(1) (2)
Speed control mode
Switching operation
Position control mode  Speed control mode
(1)
Seed control mode  Position control mode
(2)
Position control mode  Torque control mode
(3)
Torque control mode  Position control mode
(4)
Seed control mode  Torque control mode
(5)
Torque control mode  Speed control mode
(6)
*1 The "[St.1040] Start accept flag (R: M30080+n/Q: M2001+n)" is OFF.
*2 ZERO speed (b3) of "[Md.1022] Servo status2 (R: D32033+48n/Q: #8011+20n)" is ON.
The control mode can be changed without checking the switching condition of "during motor stop" in Motion CPU by setting "1: Condition
during zero speed at control mode switching: invalid" in "Invalid selection during zero speed at control mode switching". Set "1:
Condition during zero speed at control mode switching: invalid" to switch the control mode without waiting for stop of servo motor.
Confirm the control mode with "control mode (b2, b3)" of "[Md. 108] Servo status 1 (R: D32032+48n/Q: #8010+20n)".
• Control mode (b2, b3) of "[Md.108] Servo status 1 (R: D32032+48n/Q: #8010+20n)"
b3 b2 Control mode
0 0 Position control mode
0 1 Speed control mode
1 0 Torque control mode
■Precautions at control mode switching
• The "[St.1060] Positioning start complete (R: M32400+32n/Q: M2400+20n)" and "[St.1061] Positioning complete (R:
M32401+32n/Q: M2401+20n)" do not turn ON at control mode switching.
• During speed control or torque control, the "[St.1040] Start accept flag (R: M30080+n/Q: M2001+n)" turns ON.
• The motor speed might change momentarily at switching from the speed control mode to torque control mode. Therefore, it
recommended to switch from the speed control mode to torque control mode after the servomotors are stopped.
• Cannot use press with limited torque during speed control mode.
• "[St.1064] In speed controlling (R: M32404+32n/Q: M2404+20n)" does not turn ON during speed control mode in the
speed-torque control.
7 AUXILIARY AND APPLIED FUNCTIONS
432
7.5 Speed-Torque Control
(4) (3)
(5)
Torque control mode
(6)
Switching condition
*1
Not during positioning and during motor stop
*2
During motor stop
*1
Not during positioning and during motor stop
*2
During motor stop
None
*2
*2