Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 439

• When the mode is switched from position control mode to continuous operation to torque control mode, only
the switching from continuous operation to torque control mode to position control mode is possible. If the
mode is switched to other control modes, a warning (error code: 09E8H) will occur, and the control mode is
not switched.
• When the mode is switched from speed control mode to continuous operation to torque control mode, only
the switching from continuous operation to torque control mode to speed control mode is possible. If the
mode is switched to other control modes, a warning (error code: 09E8H) will occur, and the control mode is
not switched.
■Precautions at control mode switching
• The "[St.1060] Positioning start complete (R: M32400+32n/Q: M2400+20n)" and "[St.1061] Positioning complete (R:
M32401+32n/Q: M2401+20n)" do not turn ON at control mode switching.
• During continuous operation to torque control, the "[St.1040] start accept flag (R: M30080+n/Q: M2001+n)" turns ON.
• 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. (A
deceleration stop is made during the positioning control. The mode is switched to position control during the speed control,
and the operation immediately stops.)
■Operation for "Position control mode  Continuous operation to torque control mode
switching
When the mode is switched from position control mode to continuous operation to torque control mode, the command torque
and command speed immediately after switching are the values set in "Torque initial value selection at control mode
switching" and "Speed initial value selection at control mode switching".
• Command torque
Torque initial value selection at
control mode switching
0: Command torque
1: Feedback torque
• Command speed
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" in "Speed initial value selection at control mode
switching".
Command torque to servo amplifier immediately after switching from position control mode
to continuous operation 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.
Command speed to servo amplifier immediately after switching from position control mode
to continuous operation to torque control mode
The speed to servo amplifier immediately after switching is the speed during command.
Motor speed received from servo amplifier at switching.
The speed commanded to servo amplifier immediately after switching is the lower speed between "0: Command
speed" and "1: Feedback speed".
7 AUXILIARY AND APPLIED FUNCTIONS
7.5 Speed-Torque Control
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