Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 436

■Operation for "Position control mode  torque control mode switching"
When the mode is switched from position control mode to torque control mode, the command torque immediately after
switching is the torque set in "torque initial value selection at control mode switching".
Torque initial value selection at
control mode switching
0: Command torque
1: Feedback torque
When the servo parameter "POL reflection selection at torque control (PC29)" is set to "0: Valid" and "Torque
initial value selection at control mode switching" is set to "1: Feedback torque", a warning (error code: 0A55H)
will occur at control mode switching, and the command value immediately after switching is the same as the
case of selecting "0: Command torque". If the feedback torque is selected, set "1: Invalid" in the servo
parameter "POL reflection selection at torque control (PC29)".
When the mode is switched from torque control mode to position control mode, the command position immediately after
switching is the current feed value at switching.
The following chart shows the operation timing.
Control mode switching
request device
Control mode setting device
Torque command device
Speed command device
(Speed limit command value)
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
Control mode (b2, b3)
([Md.108] Servo status1
(R: D32032+48n/Q: #8010+20n))
7 AUXILIARY AND APPLIED FUNCTIONS
434
7.5 Speed-Torque Control
Command torque to servo amplifier immediately after switching from position control mode
to torque control mode
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 torque to servo amplifier.
Torque
Position control mode
30.0%
20.0%
0
6 to 11ms
ON
OFF
0 20: Torque control mode
0
0
ON
OFF
[0, 0]
Torque control mode
200 300
50000
[0, 1]
Position control mode
t
6 to 11ms
0: Position control mode
0
[0, 0]