Mitsubishi Electric MELSEC iQ-R Series User Manual page 203

■Precautions at control mode switching
• The start complete signal and positioning complete signal do not turn ON at control mode switching.
• When "33: Continuous operation to torque control mode" is set in "[Md.26] Axis operation status" and "1: Position control
mode - continuous operation to torque control mode, speed control mode - continuous operation to torque control mode
switching" is set in "[Md.124] Control mode switching status", the BUSY signal turns ON.
• When using the continuous operation to torque control mode, use the servo amplifiers that are compatible with the
continuous operation to torque control. If the servo amplifiers that are not compatible with the continuous operation to
torque control are used, the error "Driver control not supported" (error code: 1AE7H) occurs at request of switching to
continuous operation to torque control mode, and the operation stops. (In the positioning control, the operation stops
according to the setting of "[Pr.39] Stop group 3 rapid stop selection". In the speed control, the mode switches to the
position control, and the operation immediately stops.)
■Operation for "Position control mode  Continuous operation to torque control mode
switching"
To switch to the continuous operation to torque control mode, set the control data used in the control mode before setting "1"
in "[Cd.138] Control mode switching request".
When the switching condition is satisfied at control mode switching request, "1: Position control mode - continuous operation
to torque control mode, speed control mode - continuous operation to torque control mode switching" is set in "[Md.124]
Control mode switching status" and the BUSY signal turns ON. (When the control mode switching request is executed while
the BUSY signal is ON, the BUSY signal does not turn OFF but stays ON at control mode switching.)
"0" is automatically stored in "[Cd.138] Control mode switching request" and "[Md.124] Control mode switching status" after
completion of switching.
When the position control mode is switched to the continuous operation to torque control mode, the command torque and
command speed immediately after the switching are the values set according to the following setting in "Torque initial value
selection (b4 to b7)" and "Speed initial value selection (b8 to b11)" of "[Pr.90] Operation setting for speed-torque control
mode".
Torque initial value selection ([Pr.90]: b4 to b7)
0: Command torque
1: Feedback torque
Speed initial value selection ([Pr.90]: b8 to b11)
0: Command speed
1: Feedback speed
2: Automatic selection
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 (b8 to b11)".
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• When the mode is switched from position control mode to continuous operation to torque control mode, only
the switching from continuous operation to torque control mode to position control mode is possible. If the
mode is switched to other control modes, the warning "Control mode switching not possible" (warning code:
0DABH) will occur, and the control mode is not switched.
• When the mode is switched from speed control mode to continuous operation to torque control mode, only
the switching from continuous operation to torque control mode to speed control mode is possible. If the
mode is switched to other control modes, the warning "Control mode switching not possible" (warning code:
0DABH) will occur, and the control mode is not switched.
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Command torque to servo amplifier immediately after switching from position
control mode to continuous operation to torque control mode
The value of "[Cd.150] Target torque at continuous operation to torque control mode" at switching.
Motor torque value at switching.
Command speed to servo amplifier immediately after switching from position
control mode to continuous operation to torque control mode
Speed that the position command at switching is converted into the motor speed.
(When the positioning does not start at switching, the speed to servo amplifier immediately after
switching is "0".)
Motor speed received from servo amplifier at switching.
The lower speed between speed that position command at switching is converted into the motor
speed and motor speed received from servo amplifier at switching.
7 EXPANSION CONTROL
201
7.1 Speed-torque Control
7