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Chapter 12 Expansion Control
Operation for "Speed control mode ↔ Continuous operation to torque
control mode switching"
To switch to the continuous operation to torque control mode, set the control data
used in the control mode before setting "1" in "[Cd.138] Control mode switching
request".
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. (When
the control mode switching request is executed while the BUSY signal is ON, the
BUSY signal does not turn OFF but stays ON at control mode switching.)
"0" is automatically stored in "[Cd.138] Control mode switching request" and
"[Md.124] Control mode switching status" after completion of switching.
When the speed control mode is switched to the continuous operation to torque
control mode, the command torque immediately after the switching is the torque
set in "Torque initial value selection (b4 to b7)" of "[Pr.90] Operation setting for
speed-torque control mode".
Torque initial value selection
([Pr.90]: b4 to b7)
Command torque to servo amplifier immediately after switching from
speed control mode to continuous operation to torque control mode
0: Command torque
The value of "[Cd.150] Target torque at continuous operation to
torque control mode" at switching.
1: Feedback torque Motor torque value at switching.