Mitsubishi Electric R32MTCPU Programming Manual page 135

• 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
Position control mode
(1) (2)
Speed control mode
Switching operation
Position control mode  Speed control mode
(1)
Speed control mode  Position control mode
(2)
Position control mode  Torque control mode
(3)
Torque control mode  Position control mode
(4)
Speed control mode  Torque control mode
(5)
Torque control mode  Speed control mode
(6)
*1 The "[St.380] Synchronous control (M10880+n)" is ON. During the synchronous control mode switching analysis or during the
synchronous control stop due to "[Rq.380] Synchronous control start (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 (#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 Continuous operation
to torque control mode 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 The "[St.380] Synchronous control (M10880+n)" is ON. During the synchronous control mode switching analysis or during the
synchronous control stop due to "[Rq.380] Synchronous control start (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 (#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.
• The command speed at speed control is the speed command to the output axis. The command speed at torque/continuous
operation to torque control is the speed limit value.
(4) (3)
(5)
Torque control mode
(6)
Speed control mode Torque control mode
(3) (4)
Continuous operation
to torque control mode
Switching condition
During synchronous control
During synchronous control
(5) (6)
Switching condition
During synchronous control
During synchronous control
During synchronous control
Switching not possible
7 AUXILIARY AND APPLIED FUNCTIONS
*1 *2
, and during motor stop
*1
*1
*1 *2
, and during motor stop
*1
7.3 Speed-Torque Control
7
133