Mitsubishi Electric MELSEC Q Series Programming Manual page 471

7 AUXILIARY AND APPLIED FUNCTIONS
Control mode switching
request device
Control mode setting device
Torque command device
Speed command device
(Speed limit command value)
Start accept flag (M2001+n)
Control mode (Servo status1
(#8010+20n: b2, b3))
(d) Operation for "Position control mode ↔ Speed control mode switching"
When the mode is switched from position control mode to torque control
mode, the command torque immediately after switching is the torque set in
"torque initial value selection at control mode switching".
Torque initial value selection at
control mode switching
0: Command torque
1: Feedback torque
POINT
When the servo parameter "POL reflection selection at torque control (PC29)" is set
to "0: Valid" and "Torque initial value selection at control mode switching" is set to
"1: Feedback torque", a minor error (error code: 154) 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:
Invalid" in the servo parameter "POL reflection selection at torque control (PC29)".
When the mode is switched from torque control mode to position control
mode, the command position immediately after switching is the current feed
value at switching.
The following chart shows the operation timing.
Torque
Position control mode
30.0%
20.0%
0
6 to 11ms
ON
OFF
0
0
0
ON
OFF
[0, 0]
Command torque to servo amplifier immediately after switching
from position control mode to torque control mode
Immediately after switching the control mode, the value of torque
command device is the torque to servo amplifier regardless of the
command torque time constant.
Motor current value received from servo amplifier at switching is the
torque to servo amplifier.
Torque control mode
20: Torque control mode
200 300
50000
[0, 1]
7 - 26
Position control mode
6 to 11ms
0: Position control mode
0
[0, 0]
t