Mitsubishi Electric MELSEC Q Series Programming Manual page 468

7 AUXILIARY AND APPLIED FUNCTIONS
(9) Speed initial value selection at control mode switching
Set the speed initial value at the following control mode switching.
• Position control to speed control
• Position control to continuous operation to torque control
• Speed control to continuous operation to torque control
Speed initial value selection at
control mode switching
0: Command speed
1: Feedback speed
2: Automatic selection
POINT
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".
(10) Torque initial value selection at control mode switching
Set the torque initial value at switching to torque control mode or continuous
operation to torque control mode.
Torque initial value selection at
control mode switching
0: Command speed
1: Feedback speed
(11) Invalid selection during zero speed at control mode switching
Set to switch the control mode without waiting for stop of servo motor.
Invalid selection during zero speed at control mode switching
0: Condition at control mode switching: valid
1: Condition during zero speed at control mode switching: invalid
POINT
Normally, set "0". Set "1" to switch to the control mode without waiting for stop of
servo motor immediately after completion of the command to servo motor.
At switching to continuous operation to torque control, switching of control mode is
possible without stop regardless of the setting value.
Command speed to servo amplifier immediately after 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".
Command torque to servo amplifier immediately after 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
command torque to servo amplifier.
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