Mitsubishi Electric RD77MS2 User Manual page 202

■Operation for "Speed control mode  Torque control mode switching"
When the speed control mode is switched to the torque control mode, the command torque immediately after the switching is
the torque set in "Torque initial value selection (b4 to b7)" of "[Pr.90] Operation setting for speed-torque control mode".
Torque initial value selection ([Pr.90]: b4 to b7)
0: Command torque
1: Feedback torque
When the servo parameter "Function selection C-B POL reflection selection at torque control (PC29)" is set to
"0: Enabled" and "Torque initial value selection" is set to "1: Feedback torque", the warning "Torque initial
value selection invalid" (warning code: 09E5H) will occur at control mode switching, and the command value
immediately after switching is the same as the case of selecting "0: Command torque". If the feedback torque
is selected, set "1: Disabled" in the servo parameter "Function selection C-B POL reflection selection at torque
control (PC29)".
When the torque control mode is switched to the speed control mode, the command speed immediately after the switching is
the motor speed at switching.
The following chart shows the operation timing for axis 1.
■RD77MS4 operation example
[Cd.138] Control mode switching request
[Cd.139] Control mode setting
[Cd.140] Command speed at speed
control mode
[Cd.143] Command torque at torque
control mode
[Cd.146] Speed limit value at torque
control mode
BUSY signal [X10]
[Md.26] Axis operation status
Control mode
([Md.108] Servo status1: b2, b3)
7 EXPANSION CONTROL
200
7.1 Speed-torque Control
Command torque to servo amplifier immediately after switching from speed
control mode to torque control mode
The value of "[Cd.143] Command torque at torque control mode" at switching.
Motor torque value at switching.
V
Speed control mode
30000
20000
0
Torque
20.0%
0
6 to 11 ms
0 1
10
20000
0
0
ON
31
[1, 0]
Torque control mode
0
20
0
200
50000
30 32
[0, 1]
Speed control mode
t
6 to 11 ms
1 0
10
30000
0
30 31
[1, 0]
t