Mitsubishi Electric MELSEC-Q Series User Manual page 592

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The history of control mode switching is stored to the starting 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 "[Md.108] Servo status". (Refer to Section 5.6.2 "Axis monitor data".)

[Md.108] Servo status: b2, b3

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 "[Md.26] Axis operation status", the BUSY signal turns ON.

(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) The operation to press with limited torque during the speed control cannot be

(5) "In speed control flag" ([Md.31] Status: b0) does not turn ON during the speed

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 "[Pr.90] Operation setting for speed-torque control

Speed initial value selection

([Pr.90]: b8 to b11)

0: Command speed

1: Feedback speed

When the speed control mode is switched to the position control mode, the

command position immediately after the switching is the feed current value at

Buffer memory address (High-order)

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.

Chapter 12 Expansion Control

n: Axis No.-1