Mitsubishi Electric MELSEC iQ-R Series Programming Manual page 172

• Turn OFF to ON the control mode switching request device after setting the control mode (10: Speed control mode, 20:
Torque control mode, 30: Continuous operation to torque control mode) in the control mode setting device to switch the
control mode. The following shows the switching condition of each control mode.
• Speed control/Torque control
(1)
Speed control mode
Switching operation
(1) Position control mode → Speed control mode
(2) Speed control mode → Position control mode
(3) Position control mode → Torque control mode
(4) Torque control mode → Position control mode
(5) Speed control mode → Torque control mode
(6) Torque control mode → Speed control mode
*1 The "[St.380] Synchronous control (R: M40000+n/Q: M10880+n)" is ON. During the synchronous control mode switching analysis or
during the synchronous control stop due to "[Rq.380] Synchronous control start (R: M43440+n/Q: M12000+n)" ON to OFF or stop factor
occurrence, the control mode switching request is ignored.
*2 ZERO speed (b3) of "[Md.1022] Servo status 2 (R: D32033+48n/Q: #8011+20n)" is ON. The control mode can be changed without
checking the switching condition of "during motor stop" in Motion CPU by setting "1: Condition during zero speed at control mode
switching: invalid" in "Invalid selection during zero speed at control mode switching". Set "1: Condition during zero speed at control
mode switching: invalid" to switch the control mode without waiting for stop of servo motor.
• Continuous operation to torque control
Position control mode
(1) (2)
Continuous operation
to torque control mode
Switching operation
(1) Position control mode → Continuous operation to torque control mode
(2) Continuous operation to torque control mode → Position control mode
(3) Speed control mode → Continuous operation to torque control mode
(4) Continuous operation to torque control mode → Speed control mode
(5) Torque control mode → Continuous operation to torque control mode
(6) Continuous operation to torque control mode → Torque control mode
*1 The "[St.380] Synchronous control (R: M40000+n/Q: M10880+n)" is ON. During the synchronous control mode switching analysis or
during the synchronous control stop due to "[Rq.380] Synchronous control start (R: M43440+n/Q: M12000+n)" ON to OFF or stop factor
occurrence, the control mode switching request is ignored.
*2 ZERO speed (b3) of "[Md.1022] Servo status 2 (R: D32033+48n/Q: #8011+20n)" is ON. The control mode can be changed without
checking the switching condition of "during motor stop" in Motion CPU by setting "1: Condition during zero speed at control mode
switching: invalid" in "Invalid selection during zero speed at control mode switching". Set "1: Condition during zero speed at control
mode switching: invalid" to switch the control mode without waiting for stop of servo motor.
8 AUXILIARY AND APPLIED FUNCTIONS
170
8.3 Speed-Torque Control
Position control mode
(2) (4) (3)
(5)
Torque control mode
(6)
Speed control mode
(3) (4)
Continuous operation
to torque control mode
Switching condition
During synchronous control
During synchronous control
Torque control mode
(5) (6)
Continuous operation
to torque control mode
Switching condition
During synchronous control
During synchronous control
During synchronous control
Switching not possible
*1 *2
, and during motor stop
*1
*1
*1 *2
, and during motor stop
*1