Mitsubishi Electric MELSEC iQ-R Series User Manual page 217

■Stop cause during continuous operation to torque control mode
The operation for stop cause during continuous operation to torque control mode is shown below.
Item
"[Cd.180] Axis stop" turned ON.
Stop signal of "[Cd.44] External input signal operation
device" turned ON.
All axis servo ON [Y1] turned OFF.
"[Cd.100] Servo OFF command" turned ON.
The current value reached the software stroke limit.
The position of the motor reached the hardware stroke
limit.
The PLC READY signal [Y0] turned off.
Command discard was detected on the servo amplifier.
The forced stop input to Motion module.
The emergency stop input to servo amplifier.
The servo alarm occurred.
The servo amplifier's power supply turned OFF.
*1 When the mode has switched from the speed control mode to the continuous operation to torque control mode, the mode switches to
the position control mode after switching the speed control mode once. Therefore, it takes the following time to switch to the position
control mode.
Switching time for the speed control mode + Switching time for the position control mode
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Operation during continuous operation to torque control mode
The speed limit value commanded to servo amplifier is "0" regardless of the setting value of
"[Cd.147] Speed limit value at continuous operation to torque control mode". The mode switches
to the position control mode when "Zero speed" of "[Md.119] Servo status2" turns ON, and the
operation immediately stops. (Deceleration processing is not executed.)
The value of command torque is not changed. It might take time to reach the speed "0" depending
on the current torque command value.
The servo OFF is not executed during the continuous operation to torque control mode. The
command status when the mode is switched to the position control mode becomes valid.
An error (error code: 1A00H, 1A04H to 1A07H, 1A93H, 1A95H, 1BE6H) occurs. The mode
switches to the position control mode at the current position, and the operation immediately stops.
(Deceleration processing is not executed.)
When the operation immediately stops, the motor may start hunting depending on the motor
speed. Therefore, be sure not to reach the limit in high speed and not to turn OFF the PLC
READY signal [Y0].
The mode switches to the position control mode when the servo OFF (Servo ON of "[Md.108]
Servo status1" turns OFF) is executed.
is switched to position control mode, the servo motor immediately stops.)
An immediate stop will be performed as the stop processing of the controller. (The mode is set to
the position control mode at the servo amplifier's power supply ON again.)
*1
*1
(While the servo amplifier is servo OFF, even if the mode
7 EXPANSION CONTROL
7.1 Speed-torque Control
7
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