Mitsubishi Electric MELSEC Q Series Programming Manual page 473

7 AUXILIARY AND APPLIED FUNCTIONS
Position control mode
1)
to torque control mode
Continuous operation to torque control mode
2)
Position control mode
Speed control mode
3)
to torque control mode
Continuous operation to torque control mode
4)
Speed control mode
Torque control mode
5)
to torque control mode
Continuous operation to torque control mode
6)
Torque control mode
(Note-1): The start accept flag (M2001+n) is OFF.
(Note-2): ZERO speed (b3) of Servo status2 (#8011+20n)
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.
(2) Switching of control mode (Continuous operation to torque control)
(a) Switching method of control mode
Turn OFF to ON the control mode switching request device after setting the
control mode in the control mode setting device (30: Continuous operation to
torque control mode) to switch from position control mode or speed control
mode to continuous operation to torque control.
When the mode is switched to continuous operation to torque control mode,
the control data used in continuous operation to torque control mode must
be set before turning on the control mode switching request device.
When the switching condition is satisfied at control mode switching request,
the control mode is switched, and the start accept flag (M2001+n) turns ON.
The following shows the switching condition of continuous operation to
torque control mode.
Position control mode
1)
Continuous operation
to torque control mode
Switching operation
Continuous operation
Continuous operation
Continuous operation
Speed control mode
2) 3)
Continuous operation
to torque control mode
Not during positioning
• ABS-1 : 1-axis linear control (ABS)
• INC-1 : 1-axis linear control (INC)
• FEED-1 : 1-axis fixed-feed control
• VF : Speed control ( ) (Forward)
• VR : Speed control ( ) (Reverse)
• VPF : Speed-position switching control (Forward)
• VPR : Speed-position switching control (Reverse)
• PFSTART : Position follow-up control
• CPSTART : 1-axis constant-speed control
• PVF : Speed control with fixed position stop (Forward)
• PVR : Speed control with fixed position stop (Reverse)
(Note): JOG operation, Speed control ( ) (VVF, VVR), Speed
switching control (VSTART), High-speed oscillation control
(OSC) are not supported.
During motor stop
None
Switching not possible
is ON.
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Torque control mode
4) 5)
Continuous operation
to torque control mode
Switching condition
(Note-1)
or during following positioning mode
(Note-2)
6)