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Chapter 12 Expansion Control
[2] Switching of control mode (Continuous operation to torque control)
Switching method of control mode
To switch the control mode to the continuous operation to torque control mode, set
"1" in "[Cd.138] Control mode switching request" after setting the control mode to
switch to "[Cd.139] Control mode setting" (30: Continuous operation to torque
control mode) from position control mode or speed control mode.
The selected control mode can be checked in "[Md.26] Axis operation status".
When the switching condition is satisfied at control mode switching request, "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", and the BUSY signal turns ON.
The following shows the switching condition of the continuous operation to torque
control mode.
Speed control mode
2)1)
Position control mode
Continuous operation
to torque control mode
4)3)
Continuous operation
to torque control mode
6)5)
Torque control mode
Continuous operation
to torque control mode
Switching operation Switching condition
1)
Position control mode
Continuous operation to torque control mode
Not during positioning
(Note-1)
or during following
positioning/synchronous mode
• ABS1 : 1-axis linear control (ABS)
• INC1 : 1-axis linear control (INC)
• FEED1 : 1-axis fixed-feed control
• VF1 : 1-axis speed control (Forward)
• VR1 : 1-axis speed control (Reverse)
• VPF : Speed-position switching control (Forward)
• VPR : Speed-position switching control (Reverse)
• PVF : Position-speed switching control (Forward)
• PVR : Position-speed switching control (Reverse)
• Synchronous control
2)
Continuous operation to torque control mode
Position control mode
During motor stop
(Note-2)
3)
Speed control mode
Continuous operation to torque control mode
None
4)
Continuous operation to torque control mode
Speed control mode
5)
Torque control mode
Continuous operation to torque control mode
Switching is impossible.
6)
Continuous operation to torque control mode
Torque control mode
(Note-1): BUSY signal is OFF.
(Note-2): ZERO speed (Low-order buffer memory address: b3 of "[Md.108] Servo status") is ON. The control mode
can be changed without checking the switching condition of "during motor stop" in Simple Motion module
by setting "1: Zero speed ON condition invalid (for switching control mode)" in "Condition selection at
mode switching (b12 to b15)" of "[Pr.90] Operation setting for speed-torque control mode". Set "1: Zero
speed ON condition invalid (for switching control mode)" only when switching the control mode without
waiting for the servomotor to stop.
Buffer memory address (Low-order)
QD77MS2/QD77MS4 QD77MS16
[Md.108] Servo status: b3 876+100n 2476+100n
n: Axis No.-1