Operation Of Speed-Torque Control; Switching Method Of Control Mode - Mitsubishi Electric QD77MS User Manual

12.1.4 Operation of speed-torque control

[1] Switching of control mode (Speed control/Torque control)

Switching method of control mode

To switch the control mode to the speed control or the torque control, set "1" in
"[Cd.138] Control mode switching request" after setting the control mode in
"[Cd.139] Control mode setting".
When the mode is switched to the speed control mode or the torque control mode,
the control data used in each control mode must be set before setting "1" in
"[Cd.138] Control mode switching request".
When the switching condition is satisfied at control mode switching request, "30:
Control mode switch" is set in "[Md.26] Axis operation status", and the BUSY
signal turns ON. "0" is automatically stored in "[Cd.138] Control mode switching
request" by Simple Motion module after completion of switching.
A warning "Control mode switching during BUSY" (warning code: 120) or "Control
mode switching during zero speed OFF" (warning code: 121) occurs if the
switching condition is not satisfied, and the control mode is not switched.
The following shows the switching condition of each control mode.
Speed control mode
Switching operation
1) Position control mode
2) Speed control mode
3) Position control mode
4) Torque control mode
5) Speed control mode
6) Torque control mode
(Note-1): BUSY signal is OFF.
(Note-2): ZERO speed (Low-order buffer memory address: b3 of "[Md.108] Servo status") is ON.
[Md.108] Servo status: b3
(Note-3): Change the setting of "Condition selection at mode switching (b12 to b15)" in "[Pr.90] Operation
setting for speed-torque control mode" when switching the control mode without waiting for the
servomotor to stop. Note that it may cause vibration or impact at control switching. (Refer to
Section 5.2.4 "Detailed parameters 2".)
Position control mode
1) 2)
5)
6)
Not during positioning
Speed control mode
stop
During motor stop
Position control mode
Not during positioning
Torque control mode
stop
During motor stop
Position control mode
Torque control mode
None
Speed control mode
Buffer memory address (Low-order)
QD77MS2/QD77MS4
876+100n
12 - 7
Chapter 12 Expansion Control
4) 3)
Torque control mode
Switching condition
(Note-1)
and during motor
, (Note-3)
(Note-2)
, (Note-3)
(Note-2)
(Note-1)
and during motor
(Note-2), (Note-3)
(Note-2), (Note-3)
QD77MS16
2476+100n
n: Axis No.-1