Mitsubishi Electric R32MTCPU Programming Manual page 136

• Command torque at torque control and continuous operation to torque control are set in the "torque command device" of
"speed-torque control data". The command torque is limited with "Torque limit value at speed-torque control". If the torque
exceeds torque limit value is set, a warning (error code: 09E4H) will occur, the operation is controlled with torque limit value
at speed-torque control. Torque limit value to servo amplifier can be changed within the range of "Torque limit value at
speed-torque control" by torque limit value change request (CHGT, M(P).CHGT/D(P).CHGT). If the change outside the
range of "Torque limit value at speed-torque control" is requested by torque limit value change request torque limit value
individual change request, a warning (error code: 0A5EH) will occur, and the torque limit value is not changed.
• Values of "[Md.407] Cam axis current value per cycle (D13612+30n, D13613+30n)", "[Md.408] Cam reference position
(D13614+30n, D13615+30n)", and "[Md.409] Cam axis current feed value (D13616+30n, D13617+30n)" during speed-
torque control are based on the command from the input axis. It is not based on the actual output axis position. "[Md.407]
Cam axis current value per cycle (D13612+30n, D13613+30n)", "[Md.408] Cam reference position (D13614+30n,
D13615+30n)", and "[Md.409] Cam axis current feed value (D13616+30n, D13617+30n)" are restored based on the actual
output axis position at the position control mode switching.
• Phase compensation is valid during speed-torque control.
• Switching to speed control mode, torque control mode, or continuous operation to torque control mode during synchronous
control is not reflected on the scroll monitor.
• During synchronous control start analysis or during the synchronous control stop due to "[Rq.380] Synchronous control
start (M12000+n)" ON to OFF or stop factor occurrence, the control mode switching request is ignored. Take "[Rq.380]
Synchronous control start (M12000+n)" in an interlock.
• The synchronous control change function cannot be used during speed-torque control.
Precautions at control mode switching
When using continuous operation to torque control mode, use the servo amplifiers that are compatible with continuous
operation to torque control. If servo amplifiers that are not compatible with continuous operation to torque control are used, a
minor error (error code: 19E7H) will occur at request of switching to continuous operation to torque control mode.
7 AUXILIARY AND APPLIED FUNCTIONS
134
7.3 Speed-Torque Control