Mitsubishi Electric MELSEC Q Series Programming Manual page 475

7 AUXILIARY AND APPLIED FUNCTIONS
(c) Operation for "Position control mode ↔ Continuous operation to torque
control mode switching
When the mode is switched from position 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".
Torque initial value selection
at control mode switching
0: Command torque
1: Feedback torque
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" in "Speed initial value selection at control
mode switching".
Command torque to servo amplifier immediately after switching from
position 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
position 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 commanded to servo amplifier immediately after
switching is the lower speed between "0: Command speed" and "1:
Feedback speed".
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