Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 437

■Operation for "Speed control mode  Torque control mode switching"
When the mode is switched from speed 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 speed control mode, the command speed immediately after
switching is the motor speed at switching.
The following chart shows the operation timing.
V
30000
20000
0
Control mode switching
OFF
request device
Control mode setting device
Speed command device
(During torque control:
20000
Speed limit command value)
Torque command device
ON
[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))
Command torque to servo amplifier immediately after switching from speed 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.
Speed control mode
Torque
20.0%
0
ON
10 20: Torque control mode
0
0
[1, 0]
Torque control mode Speed control mode
10: Speed control mode
10000 0
200 0
[0, 1]
7 AUXILIARY AND APPLIED FUNCTIONS
t
t
30000
[1, 0]
7.5 Speed-Torque Control
7
435