Mitsubishi Electric MELSEC Q Series Programming Manual page 484

7 AUXILIARY AND APPLIED FUNCTIONS
(e) Speed during continuous operation to torque control mode
The speed during continuous operation to torque control mode is limited with
the absolute value of speed limit command value after acceleration/
deceleration processing with signed value set in "Speed command device".
Speed direction depends on the torque command. When the speed reaches
the absolute value of speed limit command value, "Speed limit (b4)" of servo
status2 (#8011+20n) turns ON".
And, the value of "Speed command device" (speed limit command value for
continuous operation to torque control) is limited with "Speed limit value at
speed-torque control". If the speed limit command value exceeds speed limit
value at speed-torque control is set, a minor error (error code: 315) will
occur, and the operation is controlled with speed limit value at speed-torque
control.
POINTS
(1) The actual motor speed may not reach the speed limit command value
depending on the machine load situation during continuous operation to torque
control mode.
(2) It is recommended to match the direction of torque command and speed
command. When the direction of torque command and speed command is
different, the speed may decelerate to 0.
(f) Current feed value during continuous operation to torque control mode
Feed current value (D0+20n, D1+20n) and real current value (D2+20n,
D3+20n) are updated even in continuous operation to torque 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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