Mitsubishi Electric MELSEC iQ-R Series User Manual page 200

■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) Command torque to servo amplifier immediately after switching from position
0: Command torque
1: Feedback torque
When the torque control mode is switched to the position control mode, the command position immediately after the switching
is the feed current value at switching.
The following chart shows the operation timing for axis 1.
■4-axis module operation example
[Cd.138] Control mode switching request
[Cd.139] Control mode setting
[Cd.143] Command torque at torque
control mode
[Cd.146] Speed limit value at torque
control mode
BUSY signal [X10]
[Md.26] Axis operation status
Control mode
([Md.108] Servo status1: b2, b3)
Zero speed
([Md.119] Servo status2: b3)
*1 The switching time differs by the specification of the servo amplifier. When "ZSP disabled selection at control switching" of the servo
parameter "Function selection C-E (PC76)" is set to "0: Enabled" at MR-J5(W)-G used, the control mode switches after the motor speed
becomes zero.
When the control mode of the servo amplifier does not change within 1 second, the error "Control mode switching error" (error code:
1F04H) occurs.
7 EXPANSION CONTROL
198
7.1 Speed-torque Control
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control mode to torque control mode
The value of "[Cd.143] Command torque at torque control mode" at switching.
Motor torque value at switching.
Torque
Position control mode
30.0%
20.0%
0
*1
0 1
0
0
0
OFF
0 30
[0, 0]
ON
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Torque control mode
0
20
200 300
50000
ON
32
[0, 1]
OFF
Position control mode
t
*1
1 0
0
0
30 0
[0, 0]