Mitsubishi Electric MELSEC Q Series Programming Manual page 470

7 AUXILIARY AND APPLIED FUNCTIONS
Control mode switching
request device
Control mode setting device
Speed command device
Start accept flag (M2001+n)
Control mode (Servo status1
(#8010+20n: b2, b3))
Zero speed (Servo status2
(#8011+20n: b3))
(b) Precautions at control mode switching
1) The positioning start complete signal (M2400+20n) and positioning
complete signal (M2401+20n) do not turn ON at control mode switching.
2) During speed control or torque control, the start accept flag (M2001+n)
turns ON.
3) The motor speed might change momentarily at switching from the speed
control mode to torque control mode. Therefore, it recommended to
switch from the speed control mode to torque control mode after the
servo motors are stopped.
4) Cannot use press with limited torque during speed control mode.
5) In speed controlling signal (M2404+20n) does not turn ON during speed
control mode in the speed-torque control.
(c) Operation for "Position control mode ↔ Speed control mode switching"
When the mode is switched from position control mode to speed control
mode, the command speed immediately after switching is the speed set in
"speed initial value selection at control mode switching".
Speed initial value selection at
control mode switching
0: Command speed
1: Feedback speed
2: Automatic selection
When the mode is switched from speed control mode to position control
mode, the command position immediately after switching is the current feed
value at switching.
The following chart shows the operation timing.
V
Position control mode
30000
20000
0
6 to 11ms
ON
OFF
0
0
ON
OFF
[0, 0]
ON
Command speed to servo amplifier immediately after switching
from position control mode to speed control mode
The speed to servo amplifier immediately after switching is "0".
Motor speed received from servo amplifier at switching.
At control mode switching, operation is the same as "0: Command
speed".
Speed control mode
10: Speed control mode
20000 30000
[1, 0]
OFF
7 - 25
Position control mode
6 to 11ms
0: Position control mode
0
[0, 0]
t