Mitsubishi Electric MELSEC-LD77MS2 User Manual page 664

The history of control mode switching is stored to the start history at request of
control mode switching. (Refer to Section 5.6.1 "System monitor data".)
Confirm the control mode with "control mode (high-order buffer memory address:
b2, b3)" of "
Servo status
Md.108
: b2, b3
Servo status
Md.108
Precautions at control mode switching
(1) The start complete signal and the positioning complete signal do not turn ON at
control mode switching.
(2) When "30: Control mode switch", "31: Speed control", or "32: Torque control" is
set in "
Axis operation status
Md.26
(3) The motor speed might change momentarily at switching from the speed
control mode to the torque control mode. Therefore, it is recommended that
the control mode is switched from the speed control to the torque control after
the servomotors stop.
(4) Use the continuous operation to torque control mode for the usage such as
pressing a workpiece. Do not execute the continuous operation to torque
control in the speed control mode. Otherwise, an unexpected operation might
occur at switching to the position control mode.
(5) "In speed control flag" (
control mode in the speed-torque control.
Operation for "Position control mode ↔ Speed control mode switching"
When the position control mode is switched to the speed control mode, the
command speed immediately after the switching is the speed set in "speed initial
value selection (b8 to b11)" of "
Speed initial value selection
( : b8 to b11)
Pr.90
0: Command speed
1: Feedback speed
2: Automatic selection
When the speed control mode is switched to the position control mode, the
command position immediately after the switching is the current feed value at
switching.
". (Refer to Section 5.6.2 "Axis monitor data".)
Buffer memory address (High-order)
LD77MS2/LD77MS4
877+100n
", the BUSY signal turns ON.
: b0) does not turn ON during the speed
Status
Md.31
Operation setting for speed-torque control mode
Pr.90
Command speed to servo amplifier immediately after switching from
position control mode to speed control mode
The speed to servo amplifier immediately after switching is "0".
Motor speed received from servo amplifier at switching.
The command speed is invalid due to the setting of continuous
operation to torque control mode. At control mode switching,
operation is the same as "0: Command speed".
12 - 8
Chapter 12 Expansion Control
LD77MS16
2477+100n
n: Axis No.-1
".