Mitsubishi Electric MELSEC iQ-R Series User Manual page 443

[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.
■Torque initial value selection
Set the torque initial value at switching to torque control mode or to continuous operation to torque control mode.
Setting value
0: Command torque
1: Feedback torque
■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.
Setting value
0: Command speed
1: Feedback speed
2: Automatic selection
■Condition selection at mode switching
Set the valid/invalid of switching conditions for switching control mode.
0: Check the switching condition on the Motion module
1: According to the servo amplifier specification
Set "Condition selection at mode switching (b12 to b15)" to "1: According to the servo amplifier specification".
When using the MR-J5(W)-G, set "ZSP disabled selection at control switching" of the servo parameter
"Function selection C-E (PC76)" to "1: Disabled".
■Buffer memory address
Refer to the following for the buffer memory address in this area.
Page 399 Positioning parameters: Detailed parameters 2
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Details
Command torque value at switching. (following axis 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"
Motor torque value at switching.
Details
Speed that position command at switching is converted into the motor speed.
Motor speed received from servo amplifier at switching.
The lower speed between speed that position 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".)
• The "Operation setting for speed-torque control mode" is included in detailed parameters 2. However, it will
be valid at the leading edge (OFF to ON) of the PLC READY signal [Y0].
• Set as follows to switch the control mode without waiting for the servo motor to stop. Note that it may cause
vibration or impact at control switching.
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12 DATA USED FOR POSITIONING CONTROL
12.3 Basic Setting
12
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