Control Mode Switching Request Device; Control Mode Setting Device; Speed Limit Value At Speed-Torque Control; Torque Limit Value At Speed-Torque Control - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

Control mode switching request device

Set the device to request switching of the control mode.
When the control mode switching request device is turned OFF to ON, the mode is switched to the control mode set in the

control mode setting device.

Control mode setting device
Set the device to set the control mode after switching.
When the control mode switching request device is turned from OFF to ON, the following mode is applied based on the value
set in the control mode setting device.
Control mode setting device value
0
10
20
30
If the value of control mode setting device is outside the range at control mode switching request, a warning (error code:
09E8H) will occur, and the control mode is not switched.

Speed limit value at speed-torque control

Set the speed limit value (absolute value) at speed control, torque control or continuous operation to torque control.
If the command speed exceeds the speed limit value at speed-torque control, a warning (error code: 0A5FH) will occur, and
the control is executed with the speed limit value at speed-torque control.

Torque limit value at speed-torque control

Set the torque limit value (absolute value) in speed control, torque control or continuous operation to torque control.
If the command torque exceeds the torque limit value at speed-torque control, a warning (error code: 09E4H) will occur, and
the control is executed with the torque limit value at speed-torque control.

Speed command device

Set the command speed at speed control and the speed limit command value to servo amplifier at torque control or
continuous operation to torque control. The value of speed command device can be changed at any time.
The following values can be set to the speed command device.
Units Setting range
mm -600000000 to 600000000(10
inch -600000000 to 600000000(10
degree -2147483648 to 2147483647(10
pulse -2147483648 to 2147483647(10
*1 When the "speed control 10  multiplier setting for degree axis" is valid, the setting range is -2147483648 to 2147483647(10
min]).
The actual motor speed may not reach the speed limit value depending on the machine load situation during
torque control or continuous operation to torque control.
Control mode
Position control mode
Speed control mode
Torque control mode
Continuous operation to toque control mode
-2
[mm/min])
-3
[inch/min])
-3 *1
[degree/min])
-2
[pulse/s])
3 PARAMETERS FOR POSITIONING CONTROL
3.8 Speed-torque control data
3
-2
[degree/
203