Mitsubishi Electric RD77MS2 User Manual page 206

■Operation for "Speed control mode  Continuous operation to torque control mode
switching"
To switch to the continuous operation to torque control mode, set the control data used in the control mode before setting "1"
in "[Cd.138] Control mode switching request".
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. (When the control mode switching request is executed while
the BUSY signal is ON, the BUSY signal does not turn OFF but stays ON at control mode switching.)
"0" is automatically stored in "[Cd.138] Control mode switching request" and "[Md.124] Control mode switching status" after
completion of switching.
When the speed control mode is switched to the continuous operation to 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
The following chart shows the operation timing for axis 1.
■RD77MS4 operation example
[Cd.138] Control mode switching request
[Cd.139] Control mode setting
BUSY signal [X10]
[Md.26] Axis operation status
[Md.124] Control mode switching status
Continuous operation to torque
control ([Md.125] Servo status3: b14)
[Cd.147] Speed limit value at continuous
operation to torque control mode
[Cd.150] Target torque at continuous
operation to torque control mode
Control mode
([Md.108] Servo status1: b2, b3)
[Cd.140] Command speed at speed
control mode
7 EXPANSION CONTROL
204
7.1 Speed-torque Control
Command torque to servo amplifier immediately after switching from speed
control mode to continuous operation to torque control mode
The value of "[Cd.150] Target torque at continuous operation to torque control mode" at switching.
Motor torque value at switching.
V
Speed control mode
10000
1000
0
-10000
Torque
30.0%
0
6 to 11 ms
0
10
ON
31
0
OFF
0
0
10000
Continuous operation to
torque control mode
Contact with target
1 0
30
33
1 0
ON
1000
300
[1, 0]
0
Speed control mode
t
t
6 to 11 ms
1 0
10
30 31
1 0
0
0
-10000