Mitsubishi Electric MELSEC Q Series Programming Manual page 472

7 AUXILIARY AND APPLIED FUNCTIONS
Control mode switching
request device
Control mode setting device
Speed command device
(During torque control:
Speed limit command value)
Torque command device
Start accept flag (M2001+n)
Control mode (Servo status1
(#8010+20n: b2, b3))
(e) Operation for "Speed control mode ↔ Torque control mode switching"
When the mode is switched from speed control mode to torque control
mode, the command torque immediately after switching is the torque set in
"Torque initial value selection at control mode switching".
Torque initial value selection at
control mode switching
0: Command torque
1: Feedback torque
POINT
When the servo parameter "POL reflection selection at torque control (PC29)" is set
to "0: Valid" and "Torque initial value selection at control mode switching" is set to
"1: Feedback torque", a minor error (error code: 154) will occur at control mode
switching, and the command value immediately after switching is the same as the
case of selecting "0: Command torque". If the feedback torque is selected, set "1:
Invalid" in the servo parameter "POL reflection selection at torque control (PC29)".
When the mode is switched from torque control mode to speed control
mode, the command speed immediately after switching is the motor speed
at switching.
The following chart shows the operation timing.
V
Speed control mode
30000
20000
0
Torque
20.0%
0
ON
OFF
10 20: Torque control mode
20000 0
0
ON
[1, 0]
Command torque to servo amplifier immediately after switching
from speed control mode 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.
Torque control mode
10000
200
[0, 1]
7 - 27
Speed control mode
t
10: Speed control mode
0 30000
0
[1, 0]
t