Operation Of Speed-Torque Control - Mitsubishi Electric RD77MS2 User Manual

Operation of speed-torque control

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.
The warning "Control mode switching during BUSY" (warning code: 09E6H) or "Control mode switching during zero speed
OFF" (warning code: 09E7H) 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.
Position control mode
1) 2)
5)
Speed control mode
6)
Switching operation
Position control mode  Speed control mode
1)
Speed control mode  Position control mode
2)
Position control mode  Torque control mode
3)
Torque control mode  Position control mode
4)
Speed control mode  Torque control mode
5)
Torque control mode  Speed control mode
6)
*1 BUSY signal is OFF.
*2 ZERO speed ([Md.119] Servo status2: b3) is ON.
n: Axis No. - 1
Monitor item
[Md.119] Servo status2: b3
*3 The control mode can be changed without checking the switching condition of "during motor stop" in Simple Motion module by setting "1:
Zero speed ON condition invalid (for switching control mode)" in "Condition selection at mode switching (b12 to b15)" of "[Pr.90]
Operation setting for speed-torque control mode". Set "1: Zero speed ON condition invalid (for switching control mode)" only when
switching the control mode without waiting for the servomotor to stop.
The history of control mode switching is stored to the start history at request of control mode switching. (Page 468
System monitor data)
Confirm the control mode with "control mode ([Md.108] Servo status1: b2, b3)" of "[Md.108] Servo status". (Page 477
Axis monitor data)
n: Axis No. - 1
Monitor item
[Md.108] Servo status1: b2, b3
4) 3)
Torque control mode
Buffer memory address
2476+100n
Buffer memory address
2477+100n
Switching condition
*1
Not during positioning and during motor stop
*2*3
During motor stop
*1
Not during positioning and during motor stop
*2*3
During motor stop
None
7 EXPANSION CONTROL
*2*3
*2*3
197
7.1 Speed-torque Control
7