Mitsubishi Electric MELSEC iQ-R Series User Manual page 201

■Operation for "Speed control mode  Torque control mode switching"
When the speed 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
When the torque control mode is switched to the speed control mode, the command speed immediately after the switching is
the motor speed 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.140] Command speed at speed
control mode
[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)
*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.
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V
Speed control mode
30000
20000
0
Torque
20.0%
0
0
10
20000
0
0
ON
31
[1, 0]
search engine
Command torque to servo amplifier immediately after switching from speed
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 control mode
*1
1 0
20
0
200
50000
30 32
[0, 1]
Speed control mode
t
t
*1
1 0
10
30000
0
30 31
[1, 0]
7 EXPANSION CONTROL
7.1 Speed-torque Control
7
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