Mitsubishi Electric MELSEC iQ-R Series User Manual page 202

Switching of control mode (Continuous operation to torque control)
■Switching method of control mode
To switch the control mode to the continuous operation to torque control mode, set "1" in "[Cd.138] Control mode switching
request" after setting the control mode to switch to "[Cd.139] Control mode setting" (30: Continuous operation to torque
control mode) from position control mode or speed control mode.
The selected control mode can be checked in "[Md.26] Axis operation status".
When the switching condition is satisfied at control mode switching request, "1: Position control mode - continuous operation
to torque control mode, speed control mode - continuous operation to torque control mode switching" is set in "[Md.124]
Control mode switching status", and the BUSY signal turns ON.
The following shows the switching condition of the continuous operation to torque control mode.
Position control mode
(1) (2)
Continuous operation
to torque control mode
Switching operation
Position control mode  Continuous operation to torque control mode
(1)
Continuous operation to torque control mode  Position control mode
(2)
Speed control mode  Continuous operation to torque control mode
(3)
Continuous operation to torque control mode  Speed control mode
(4)
Torque control mode  Continuous operation to torque control mode
(5)
Continuous operation to torque control mode  Torque control mode
(6)
*1 BUSY signal is OFF.
*2 ZERO speed ([Md.119] Servo status2: b3) is ON.
n: Axis No. - 1
Monitor item
[Md.119] Servo status2: b3
*3 Change the setting of "Condition selection at mode switching (b12 to b15)" in "[Pr.90] Operation setting for speed-torque control mode"
when switching the control mode without waiting for the servo motor to stop. Note that it may cause vibration or impact at control
switching. (Page 441 [Pr.90] Operation setting for speed-torque control mode)
The history of control mode switching is stored to the start history at request of control mode switching. (Page 479
System monitor data)
Confirm the status of the continuous operation to torque control mode with "b14: Continuous operation to torque control
mode" of "[Md.125] Servo status3". When the mode is switched to the continuous operation to torque control mode, the value
in "control mode (b2, b3)" of "[Md.108] Servo status1" remains the same as before switching the control mode. (Page 486
Axis monitor data)
n: Axis No. - 1
Monitor item
[Md.108] Servo status1: b2, b3
7 EXPANSION CONTROL
200
7.1 Speed-torque Control
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Speed control mode
(3) (4)
Continuous operation
to torque control mode
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Torque control mode
(5) (6)
Continuous operation
to torque control mode
Switching condition
Not during positioning
• ABS1: 1-axis linear control (ABS)
• INC1: 1-axis linear control (INC)
• FEED1: 1-axis fixed-feed control
• VF1: 1-axis speed control (Forward)
• VR1: 1-axis speed control (Reverse)
• VPF: Speed-position switching control (Forward)
• VPR: Speed-position switching control (Reverse)
• PVF: Position-speed switching control (Forward)
• PVR: Position-speed switching control (Reverse)
• Synchronous control
During motor stop
None
Switching is impossible.
*1
or during following positioning/synchronous mode
*2*3
Buffer memory address
Axis 1 to axis 16
2476+100n
Buffer memory address
Axis 1 to axis 16
2477+100n