Mitsubishi Electric Q173DSCPU Programming Manual page 204

8 AUXILIARY AND APPLIED FUNCTIONS
(1) Speed-torque control in output axis
(a) The speed-torque control can be executed for the output axis of the cam
No.0 (linear cam) during synchronous control.
When the control mode switching is executed for the output axis of cam
other than cam No.0 or the output axis where synchronous control change
function is being performed, the minor error (error code: 756) will occur, and
the control mode is not switched.
When the output axis where the speed-torque control is performed is set to
other than cam No.0, the minor error (error code: 757) will occur, and it is not
switched to the set cam No. When the mode is switched to position control,
it is switched to the cam No. set at passing through the 0th point of cam
data.
When the motor is operating at control mode switching request, a minor
error (error code: 6200) will occur, and the control mode is not switched. The
mode can be switched to continuous operation to torque control mode even
when the motor is operating.
(b) Turn OFF to ON the control mode switching request device after setting the
control mode (10: Speed control mode, 20: Torque control mode, 30:
Continuous operation to torque control mode) in the control mode setting
device to switch the control mode.
The following shows the switching condition of each control mode.
• Speed control/Torque control
Speed control mode
Switching operation
1) Position control mode
2) Seed control mode
3) Position control mode
4) Torque control mode
5) Speed control mode
6) Torque control mode
(Note-1): The [St.380] Synchronous control (M10880+n) is ON.
During the synchronous control mode switching analysis or during the synchronous control stop due
to [Rq.380] Synchronous control start (M12000+n) ON to OFF or stop factor occurrence, the control
mode switching request is ignored.
(Note-2): ZERO speed (b3) of Servo status2 (#8011+20n)
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.
Position control mode
1) 2)
5)
6)
Speed control mode
During synchronous control
Position control mode
motor stop
Torque control mode
Position control mode
Torque control mode
During synchronous control
Speed control mode
8 - 5
4) 3)
Torque control mode
Switching condition
(Note-1)
(Note-2)
(Note-1)
is ON.
and during