Mitsubishi Electric MELSEC-Q Series User Manual page 594

Operation for "Position control mode ↔ Torque control mode switching"
When the position control mode is switched to the torque control mode, the
command torque immediately after the switching is the torque set in "Torque initial
value selection (b4 to b7)" 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
POINT
When the servo parameter "Function selection C-B POL reflection selection at
torque control (PC29)" is set to "0: Enabled" and "Torque initial value selection" is
set to "1: Feedback torque", the warning "Torque initial value selection invalid"
(warning code: 521) will occur at control mode switching, and the command value
immediately after switching is the same as the case of selecting "0: Command
torque". If the feedback torque is selected, set "1: Disabled" in the servo parameter
"Function selection C-B POL reflection selection at torque control (PC29)".
Command torque to servo amplifier immediately after switching from
position control mode to torque control mode
The value of "[Cd.143] Command torque at torque control mode" at
switching.
Motor torque value at switching.
12 - 8
Chapter 12 Expansion Control