Mitsubishi Electric RD77MS2 User Manual page 203

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 Speed control mode
1) 2)
Continuous operation Continuous operation
to torque control mode to torque control mode
Switching operation
Position control mode  Continuous operation to torque control mode
1)
Continuous operation to torque control mode  Position control mode
2)
Speed control mode  Continuous operation to torque control mode
3)
Continuous operation to torque control mode  Speed control mode
4)
Torque control mode  Continuous operation to torque control mode
5)
Continuous operation to torque control mode  Torque control mode
6)
*1 BUSY signal is OFF.
*2 ZERO speed ([Md.119] Servo status2: b3) is ON. 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.
n: Axis No. - 1
Monitor item
[Md.119] Servo status2: b3
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 status of the continuous operation to torque control mode with "b14: Continuous operation to torque control
mode" of "[Md.125] Servo status3". When the mode is switched to the continuous operation to torque control mode, the value
in "control mode (b2, b3)" of "[Md.108] Servo status1" remains the same as before switching the control mode. (Page 477
Axis monitor data)
n: Axis No. - 1
Monitor item
[Md.108] Servo status1: b2, b3
Torque control mode
3) 4) 5)
Continuous operation
to torque control mode
Buffer memory address
2476+100n
Buffer memory address
2477+100n
6)
Switching condition
*1
Not during positioning or during following positioning/synchronous mode
• ABS1: 1-axis linear control (ABS)
• INC1: 1-axis linear control (INC)
• FEED1: 1-axis fixed-feed control
• VF1: 1-axis speed control (Forward)
• VR1: 1-axis speed control (Reverse)
• VPF: Speed-position switching control (Forward)
• VPR: Speed-position switching control (Reverse)
• PVF: Position-speed switching control (Forward)
• PVR: Position-speed switching control (Reverse)
• Synchronous control
*2
During motor stop
None
Switching is impossible.
7 EXPANSION CONTROL
201
7.1 Speed-torque Control
7