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Chapter 12 Expansion Control
The history of control mode switching is stored to the start history at request of
control mode switching. (Refer to Section 5.6.1 "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 (high-order buffer memory address: b2, b3)" of "[Md.108] Servo
status" remains the same as before switching the control mode. (Refer to Section
5.6.2 "Axis monitor data".)
Buffer memory address (High-order)
QD77MS2/QD77MS4 QD77MS16
[Md.108] Servo status: b2, b3
877+100n 2477+100n
n: Axis No.-1
POINTS
(1) When the mode is switched from position control mode to continuous
operation to torque control mode, only the switching from continuous operation
to torque control mode to position control mode is possible. If the mode is
switched to other control modes, the warning "Control mode switching not
possible" (warning code: 125) will occur, and the control mode is not switched.
(2) When the mode is switched from speed control mode to continuous operation
to torque control mode, only the switching from continuous operation to torque
control mode to speed control mode is possible. If the mode is switched to
other control modes, the warning "Control mode switching not possible"
(warning code: 125) will occur, and the control mode is not switched.
Precautions at control mode switching
(1) The start complete signal and positioning complete signal do not turn ON at
control mode switching.
(2) When "33: Continuous operation to torque control mode" is set in "[Md.26] Axis
operation status" and "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", the
BUSY signal turns ON.
(3) When using the continuous operation to torque control mode, use the servo
amplifiers that are compatible with the continuous operation to torque control. If
the servo amplifiers that are not compatible with the continuous operation to
torque control are used, the error "Continuous operation to torque control not
supported" (error code: 550) occurs at request of switching to continuous
operation to torque control mode, and the operation stops. (In the positioning
control, the operation stops according to the setting of "[Pr.39] Stop group 3
sudden stop selection". In the speed control, the mode switches to the position
control, and the operation immediately stops.)