Mitsubishi Electric QD77MS User Manual page 667

[2] Switching of control mode (Continuous operation to torque control)
Switching method of control mode
To switch the control mode to the continuous operation to torque control mode, set
"1" in "[Cd.138] Control mode switching request" after setting the control mode to
switch to "[Cd.139] Control mode setting" (30: Continuous operation to torque
control mode) from position control mode or speed control mode.
The selected control mode can be checked in "[Md.26] Axis operation status".
When the switching condition is satisfied at control mode switching request, "1:
Position control mode - continuous operation to torque control mode, speed
control mode - continuous operation to torque control mode switching" is set in
"[Md.124] Control mode switching status", and the BUSY signal turns ON.
The following shows the switching condition of the continuous operation to torque
control mode.
Position control mode
1)
Continuous operation
to torque control mode
Switching operation
Position control mode
1)
Continuous operation to torque control mode
Continuous operation to torque control mode
2)
Position control mode
Speed control mode
3)
Continuous operation to torque control mode
Continuous operation to torque control mode
4)
Speed control mode
Torque control mode
5)
Continuous operation to torque control mode
Continuous operation to torque 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. 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".)
[Md.108] Servo status: b3
Speed control mode
2) 3)
Continuous operation
to torque control mode
Not during positioning
positioning/synchronous mode
• ABS1 : 1-axis linear control (ABS)
• INC1
• FEED1 : 1-axis fixed-feed control
• VF1
• VR1
• VPF
• VPR
• PVF
• PVR
• Synchronous control
During motor stop
None
Switching is impossible.
Buffer memory address (Low-order)
QD77MS2/QD77MS4
876+100n
12 - 13
Chapter 12 Expansion Control
Torque control mode
4) 5)
Continuous operation
to torque control mode
Switching condition
(Note-1)
or during following
: 1-axis linear control (INC)
: 1-axis speed control (Forward)
: 1-axis speed control (Reverse)
: Speed-position switching control (Forward)
: Speed-position switching control (Reverse)
: Position-speed switching control (Forward)
: Position-speed switching control (Reverse)
(Note-2)
QD77MS16
2476+100n
n: Axis No.-1
6)