Mitsubishi Electric MELSEC-LD77MS2 User Manual page 671

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 "
".
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
"
Control mode switching status
Md.124
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 "
Control mode switching status
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 "
Operation setting for speed-torque control mode
Torque initial value selection
( : b4 to b7)
Pr.90
0: Command torque
1: Feedback torque
Speed initial value selection
( : b8 to b11)
Pr.90
0: Command speed
1: Feedback speed
2: Automatic selection
POINT
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)".
" and the BUSY signal turns ON. (When the
Control mode switching request
Cd.138
" after completion of switching.
".
Command torque to servo amplifier immediately after switching from
position control mode to continuous operation to torque control mode
The value of "
Target torque at continuous operation to torque control
Cd.150
" at switching.
mode
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.
12 - 15
Chapter 12 Expansion Control
Control mode switching
Cd.138
" and "
Md.124
Pr.90