Mitsubishi Electric MELSEC iQ-R Series User Manual page 199

■Precautions at control mode switching
• The start complete signal and the positioning complete signal do not turn ON at control mode switching.
• When "30: Control mode switch", "31: Speed control", or "32: Torque control" is set in "[Md.26] Axis operation status", the
BUSY signal turns ON.
• The motor speed might change momentarily at switching from the speed control mode to the torque control mode.
Therefore, it is recommended that the control mode is switched from the speed control to the torque control after the servo
motors stop.
• Use the continuous operation to torque control mode for the usage such as pressing a workpiece. When using the
continuous operation during speed control mode for a usage such as pressing a workpiece, set servo parameter "Function
selection B-1 Model adaptive control selection (PB25.0)" to "2: Disabled (PID control)".
• "In speed control flag" ([Md.31] Status: b0) does not turn ON during the speed control mode in the speed-torque control.
■Operation for "Position control mode  Speed control mode switching"
When the position control mode is switched to the speed control mode, the command speed immediately after the switching is
the speed set in "speed initial value selection (b8 to b11)" of "[Pr.90] Operation setting for speed-torque control mode".
Speed initial value selection ([Pr.90]: b8 to b11)
0: Command speed
1: Feedback speed
2: Automatic selection
When the speed control mode is switched to the position control mode, the command position immediately after the switching
is the feed current value at switching.
The following chart shows the operation timing for axis 1.
■4-axis module operation example
[Cd.138] Control mode switching request
[Cd.139] Control mode setting
[Cd.140] Command speed at
speed control mode
BUSY signal [X10]
[Md.26] Axis operation status
Control mode
([Md.108] Servo status1: b2, b3)
Zero speed
([Md.119] Servo status2: b3)
*1 The switching time differs by the specification of the servo amplifier. When "ZSP disabled selection at control switching" of the servo
parameter "Function selection C-E (PC76)" is set to "0: Enabled" at MR-J5(W)-G used, the control mode switches after the motor speed
becomes zero.
When the control mode of the servo amplifier does not change within 1 second, the error "Control mode switching error" (error code:
1F04H) occurs.
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V
Position control mode
30000
20000
*1
0 1
0
0
OFF
0 30
[0, 0]
ON
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Command speed to servo amplifier immediately after switching from position
control mode to speed control mode
The speed to servo amplifier immediately after switching is "0".
Motor speed received from servo amplifier at switching.
The command speed is invalid due to the setting of continuous operation to torque control mode.
At control mode switching, operation is the same as "0: Command speed".
Speed control mode
0
10
20000 30000
ON
31
[1, 0]
OFF
Position control mode
t
*1
1 0
0
0
30 0
[0, 0]
7 EXPANSION CONTROL
7.1 Speed-torque Control
7
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