Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 444

■Stop cause during speed control mode
The operation for stop cause during torque control mode is shown below.
Item
The "[Rq.1140] Stop command (R: M34480+32n/Q: M3200+20n)"
turned ON.
The "[Rq.1141] Rapid stop command (R: M34481+32n/Q:
M3201+20n)" turned ON.
The external stop input turned ON.
The "[Rq.1123] All axis servo ON command (R: M30042/Q:
M2042)" turned OFF.
The "[Rq.1155] servo OFF command (R: M34495+32n/Q:
M3215+20n)" turned ON.
The current value reached to software stroke limit.
The position of motor reached to hardware stroke limit
The "[Rq.1120] PLC ready flag (R: M30000/Q: M2000)" turned OFF.
The forced stop input to Motion CPU.
The forced stop input to servo amplifier.
The servo error occurred.
The servo amplifier's control circuit power supply turned OFF.
Continuous operation to torque control mode
■Operation for continuous operation to torque control mode
In continuous operation to torque control, the torque control can be executed by the speed limit command value after
acceleration/deceleration processing without stopping the operation during the positioning in position control mode or speed
command in speed control mode.
Ex.
When the torque command is changed from 0.0% to 100% with the torque command device.
Operation for continuous operation
to torque control mode
Speed limit
command value
Speed limit value in
speed-torque control
Speed command
device value
0
Torque command device
During continuous operation to torque control mode, the torque control is executed at command torque set in "Torque
command device". Command torque can be changed any time during continuous operation to torque control mode.
Speed change request (CHGV, M(P).CHGV/D(P).CHGV) is invalid (no operation).
Torque limit value to servo amplifier can be changed within the range of "Torque limit value at speed-torque control" by torque
limit value change request (CHGT, M(P).CHGT/D(P).CHGT) but the value is valid when the mode is switched to position
control mode. Command torque time constant is calculated based on the "Torque limit value at speed-torque control" at torque
control mode switching after the torque limit value is changed. If the change outside the range of "Torque limit value at speed-
torque control" is requested by torque limit value change request a warning (error code: 0A5EH) will occur, and the torque
limit value is not changed.
7 AUXILIARY AND APPLIED FUNCTIONS
442
7.5 Speed-Torque Control
Command speed
acceleration time
Controlled by speed limit
command value after
acceleration/deceleration
processing
t
0 1000 Torque command device
Operation during torque control mode
The speed limit command value commanded to servo amplifier is "0" regardless of the
setting value of "Speed command device". The mode is switched to position control
mode when "ZERO speed (b3)" of "[Md.1022] Servo status2 (R: D32033+48n/Q:
#8011+20n)" turns ON, and the operation stops immediately. (Deceleration processing is
not executed.) The value of command torque is not changed. It might take time to reach
at the speed "0" depending on the current torque command value.
The servo OFF is not executed during torque control mode. The command status at that
time becomes valid when the mode is switched to position control mode.
The minor error (error code: 1900H, 1905H, 1907H, 1993H, 1995H) will occur. The mode
is switched to position control mode at current position, and the operation immediately
stops. (Deceleration processing is not executed.)
The mode is switched to position control mode when the servo OFF (The "[St.1075]
Servo ready signal (R: M32415+32n/Q: M2415+20n)" turns OFF) is executed. (While the
servo amplifier is servo OFF, even if the mode is switched to position control mode, the
servomotor occurs to the free run. (The operation stops with dynamic brake.))
The motor occurs to the free run. (The operation stops with dynamic brake.) (The mode
is to position control mode at the servo amplifier's power supply ON again.)
Operation for torque control mode
Speed limit
command value
Speed command
device value
0
0 1000
t