Speed Initial Value Selection At Control Mode Switching; Torque Initial Value Selection At Control Mode Switching; Invalid Selection During Zero Speed At Control Mode Switching - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

Speed initial value selection at control mode switching

Set the speed initial value at the following control mode switching.
• Position control to speed control
• Position control to continuous operation to torque control
• Speed control to continuous operation to torque control
Speed initial value
selection at control
mode switching
0: Command speed
1: Feedback speed
2: Automatic selection
When the mode is switched to continuous operation to torque control mode in cases where command speed
and actual speed are different such as during acceleration/deceleration or when the speed does not reach
command speed due to torque limit, set "1: Feedback speed".

Torque initial value selection at control mode switching

Set the torque initial value at switching to torque control mode or continuous operation to torque control mode.
Torque initial value
selection at control
mode switching
0: Command speed
1: Feedback speed

Invalid selection during zero speed at control mode switching

Set to switch the control mode without waiting for stop of servo motor.
Invalid selection during zero speed at control mode switching
0: Condition at control mode switching: valid
1: Condition during zero speed at control mode switching: invalid
Set normally "0". Set "1" to switch to the control mode without waiting for stop of servo motor immediately after
completion of the command to servo motor.
At switching to continuous operation to torque control, switching of control mode is possible without stop
regardless of the setting value.
3 PARAMETERS FOR POSITIONING CONTROL
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3.8 Speed-torque control data
Command speed to servo amplifier immediately after control mode switching
The speed to servo amplifier immediately after switching is the speed during command.
Motor speed received from servo amplifier at switching.
The speed to servo amplifier immediately after switching is the lower speed between "0: Command speed" and "1: Feedback
speed".
Command torque to servo amplifier immediately after control mode switching
Immediately after switching the control mode, the value of torque command device is the torque to servo amplifier regardless of
the command torque time constant.
Motor current value received from servo amplifier at switching is the command torque to servo amplifier.