Omron SYSMAC CS1G Operation Manual page 267

Program and Task Configuration
Changing Control Mode
Mode before Mode after
switch switch
Position Speed
Position Torque
Speed Position
Speed Torque
Torque Position
Torque Speed
244
H Only latch cancel can be executed. Other cases will be as follows: When exe-
cuted in parallel, the alarm [2016: Same axis specification multiplicity] will occur
and the program will be interrupted.
When executed in series, the alarm [301A: Counter latch resource violation] will
occur and the program will be interrupted.
When executed continuously, the alarm [2016: Same axis specification multi-
plicity] will occur and the program will be interrupted.
I Only SPEEDR/TORQUER for the master axis:
The function executed later will be ignored. Note that, however, if the master
axis is under speed or torque control, SPEEDR/TORQUER will be executed to
end the operation.
There are three different types of control mode for the MC Unit; [Position con-
trol mode], [Speed control mode], and [Torque control mode].
Switching method and the behaviors are as shown below:
Switching method
• Execute SPEED command when the
axis is being stopped.
• Execute TORQUE command when
the axis is being stopped.
• Execute a command for position con-
trol mode after SPEEDR command
was executed to switch to the position
control mode.
• Execute MOVE command.
• Execute TORQUE command after
SPEEDR command was executed to
switch to position control mode.
• Execute TORQUE command.
• Execute TORQUER command
• Execute SPEED command after
TORQUER command was executed
to switch to position control mode.
To stop axis (speed=0) in speed control mode started by SPEED command,
execute the SPEEDR command (speed control cancel).
The waveform at this point (i.e. when stopping) will follow the speed change
rate specified in SPEEDR command.
Similarly, to stop axis (torque=0) in torque control mode started by TORQUE
command, execute the TORQUER command (torque control cancel).
The waveform at this point (i.e. when stopping) will follow the torque change
rate specified in TORQUER command.
Meaning
Behavior
When executing SPEED command during
axis movement, the alarm [2014: Control
mode error] will occur.
When executing TORQUE command during
axis movement, the alarm [2014: Control
mode error] will occur.
When executing a command for position
control mode without executing SPEEDR
command first, the alarm [2014: Control
mode error] will occur.
When executing MOVE command without
executing SPEEDR command, the speed of
the operation changes smoothly.
When executing TORQUE command with-
out executing SPEEDR command first, the
torque command 0 is used after the switch
because the torque command value in the
speed control mode is unknown.
To change torque smoothly, monitor the
torque in speed control mode, and execute
the block with torque command value that
was monitored in TORQUE command of 0
torque change rate.
When executing a command (MOVE, etc.)
for position control mode in torque control
mode, the alarm [2014: Control mode error]
will occur.
When executing SPEED command in
torque control mode, the alarm [2014: Con-
trol mode error] will occur.
Section 6-1