Mitsubishi Electric MELSEC iQ-R Series User Manual page 205

■Operation for "Speed 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 speed control mode is switched to the continuous operation to torque control mode, the command torque and
command speed immediately after the switching is the value set 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) Command speed to servo amplifier immediately after switching from speed
0: Command speed
1: Feedback speed
2: Automatic selection
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Command torque to servo amplifier immediately after switching from speed
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.
control mode to continuous operation to torque control mode
The speed commanded to the servo amplifier immediately after switching is the currently
commanded speed.
Motor speed received from servo amplifier at switching.
The speed at switching is the lower speed between the currently commanded speed converted
into the motor speed and the motor speed received from servo amplifier.
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7 EXPANSION CONTROL
203
7.1 Speed-torque Control
7