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Operation for "Speed control mode ↔ Continuous operation to torque
control mode switching"
When` the mode is switched to the continuous operation to torque control mode,
the control data used in the control mode must be set before setting "1" in
"
Control mode switching request
Cd.138
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
"
Control mode switching status
Md.124
control mode switching request is executed when the BUSY signal is ON, the
BUSY signal does not turn OFF but stays ON at control mode switching.)
"0" is automatically stored in "
Control mode switching status
When the mode is switched from speed control mode to continuous operation to
torque control mode, the command torque immediately after switching is the
torque set in "Torque initial value selection (b4 to b7)" of "
speed-torque control mode
Torque initial value selection
(
: b4 to b7)
Pr.90
0: Command torque
1: Feedback torque
".
" and the BUSY signal turns ON. (When the
Control mode switching request
Cd.138
" after completion of switching.
".
Command torque to servo amplifier immediately after switching from
speed control mode to continuous operation to torque control mode
The value of "
Target torque at continuous operation to torque
Cd.150
" at switching.
control mode
Motor torque value at switching.
12 - 18
Chapter 12 Expansion Control
" and "
Md.124
Operation setting for
Pr.90
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