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Chapter 12 Expansion Control
POINT
(1) Automatic switching is valid only when the control mode is switched from the
position control mode to the continuous operation to torque control mode.
When the mode is switched from speed control mode to continuous operation
to torque control mode or from continuous operation to torque control mode to
other control modes, even if the automatic switching is set, the state is not
waiting for the completion of condition, and control mode switching is
executed immediately.
(2) When the mode switching request is executed after setting the switching
condition, the state of waiting for the completion of control mode switching
condition continues until the setting condition is satisfied. Therefore, if the
positioning by automatic switching is interrupted, unexpected control mode
switching may be executed in other positioning operations. Waiting for the
completion of control mode switching condition can be cancelled by setting
"Other than 1: Not request" in "[Cd.138] Control mode switching request" or by
turning the axis stop signal ON. When an error occurs, waiting for the
completion of control mode switching condition is also cancelled. (In both
cases, "0" is stored in "[Cd.138] Control mode switching request".
(3) In the state of waiting for the completion of control mode switching condition, if
the current values are updated by the current value changing, the fixed-feed
control or the speed control (when "2: Clear current feed value to zero" is set
in "[Pr.21] Current feed value during speed control"), an auto-shift judgment is
executed based on the updated current value. Therefore, depending on the
setting condition, the mode may be switched to the continuous operation to
torque control mode immediately after the positioning starts. To avoid this
switching, set "1: Switching request" in "[Cd.138] Control mode switching
request".