Mitsubishi Electric RD77MS2 User Manual page 207

■Operation for switching from "Position control mode" to "Continuous operation to torque
control mode" automatically
To switch to the continuous operation to torque control mode automatically when the conditions set in "[Cd.153] Control mode
auto-shift selection" and "[Cd.154] Control mode auto-shift parameter" are satisfied, set the control data necessary in the
continuous operation to torque control mode, "[Cd.153] Control mode auto-shift selection" and "[Cd.154] Control mode auto-
shift parameter", and then set "30: Continuous operation to torque control mode" in "[Cd.139] Control mode setting" and "1:
Switching request" in "[Cd.138] Control mode switching request".
In this case, the current control is continued until the setting condition is satisfied after control mode switching request, and "2:
Waiting for the completion of control mode switching condition" is set in "[Md.124] Control mode switching status". When the
set condition is satisfied, "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".
"0" is stored in "[Cd.138] Control mode switching request" and "[Md.124] Control mode switching status" after completion of
switching.
If "[Cd.154] Control mode auto-shift parameter" is outside the setting range, the error "Outside control mode auto-shift
switching parameter range" (error code: 19E4H) occurs at control mode switching request, and the current processing stops.
(In the positioning control, the operation stops according to the setting of "[Pr.39] Stop group 3 sudden stop selection". In the
speed control, the mode switches to the position control, and the operation immediately stops.)
• Automatic switching is valid only when the control mode is switched from the position control mode to the
continuous operation to torque control mode. When the mode is switched from speed control mode to
continuous operation to torque control mode or from continuous operation to torque control mode to other
control modes, even if the automatic switching is set, the state is not waiting for the completion of condition,
and control mode switching is executed immediately.
• When the mode switching request is executed after setting the switching condition, the state of waiting for
the completion of control mode switching condition continues until the setting condition is satisfied.
Therefore, if the positioning by automatic switching is interrupted, unexpected control mode switching may
be executed in other positioning operations. Waiting for the completion of control mode switching condition
can be cancelled by setting "Other than 1: Not request" in "[Cd.138] Control mode switching request" or by
turning the axis stop signal ON. When an error occurs, waiting for the completion of control mode switching
condition is also cancelled. (In both cases, "0" is stored in "[Cd.138] Control mode switching request".)
• In the state of waiting for the completion of control mode switching condition, if the current values are
updated by the current value changing, the fixed-feed control or the speed control (when "2: Clear current
feed value to zero" is set in "[Pr.21] Current feed value during speed control"), an auto-shift judgment is
executed based on the updated current value. Therefore, depending on the setting condition, the mode may
be switched to the continuous operation to torque control mode immediately after the positioning starts. To
avoid this switching, set "1: Switching request" in "[Cd.138] Control mode switching request".
7 EXPANSION CONTROL
205
7.1 Speed-torque Control
7