Mitsubishi Electric MELSEC Q Series Programming Manual page 478

7 AUXILIARY AND APPLIED FUNCTIONS
POINT
When the mode is switched from continuous operation to torque control mode to
speed control mode, the torque command during continuous operation to torque
control is invalid. As shown in the figure above, when the target is pressed in
continuous operation to torque control direction, if the mode is switched to speed
control, torque is output to the torque limit value.
Execute the following either if such operation will be a problem.
• Set the speed command which is in opposite direction of continuous operation to
torque control direction in the speed command device before switching to the
speed control mode.
• Change the torque limit value to the lower value by torque limit value change
request (CHGT) before switching to the speed control mode.
(3) Speed control mode
(a) Operation for speed control mode
The speed control is executed at speed set in "Speed command device" in
the speed control mode.
Set a positive value for forward rotation and a negative value for reverse
rotation. "Speed command device" can be changed any time during speed
control mode.
Acceleration/deceleration is a trapezoidal acceleration/deceleration
processing. Set acceleration/deceleration time toward "Speed limit value at
speed-torque control" in "Command speed acceleration time" and
"Command speed deceleration time". The value when the control mode
switching request device turns OFF to ON is valid.
The command speed during speed control mode is limited with "Speed limit
value at speed-torque control". If the speed exceeds speed limit value is set,
a minor error (error code: 315) will occur, and the operation is controlled with
speed limit value.
Confirm the command speed to servo amplifier the command speed
(#8004+20n, #8005+20n).
Speed change request (CHGV, D(P).CHGV) is invalid (no operation).
Torque limit value can be changed within the range of "Torque limit value at
speed-torque control" by torque limit value change request (CHGT,
D(P).CHGT) or torque limit value individual change request (CHGT2,
D(P).CHGT2). If the change outside the range of "Torque limit value at
speed-torque control" is requested by torque limit value change request or
torque limit value individual change request, a minor error (error code: 319)
will occur, and the torque limit value is not changed.
(b) Current feed value during speed control mode
Feed current value (D0+20n, D1+20n) and real current value (D2+20n,
D3+20n) are updated even during speed control mode.
If the current feed value exceeds the software stroke limit, a minor error
(error code: 207) will occur and the operation is switched to position control
mode. Invalidate the software stroke limit to execute one-way feed.
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