Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 440

The following chart shows the operation timing.
Control mode switching
request device
Control mode setting device
Speed command device
(During continuous operation
to torque control: Speed limit
command value)
Torque command device
[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))
Control mode (b14)
([Md.125] Servo status3
(R: D32034+48n/Q: #8012+20n))
■Operation for "Speed control mode  Continuous operation to torque control mode
switching"
When the mode is switched from speed 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
7 AUXILIARY AND APPLIED FUNCTIONS
438
7.5 Speed-Torque Control
V
Position control mode
1000
0
Torque
30.0%
0
ON
OFF
0
30: Continuous operation to torque control mode
0
0
ON
[0]
Command torque to servo amplifier immediately after switching from speed 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 speed 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 to servo amplifier immediately after switching is the lower speed between "0: Command speed" and "1:
Feedback speed".
Continuous operation to torque
control mode
Contact with target
0: Position control mode
1000
300
[0, 0]
[1]
Position control mode
t
t
OFF
[0]