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Chapter 5 Data Used for Positioning Control
Pr.90
Operation setting for speed-torque control mode
Operation setting of the speed control mode, torque control mode or continuous
operation to torque control mode at the speed-torque control is executed.
(1) Torque initial value selection
Set the torque initial value at switching to torque control mode or to
continuous operation to torque control mode.
0: Command torque ......... Command torque value at switching. (following axis
control data)
Switching to torque control mode:
"
Cd.143
Command torque at torque control mode
"
Switching to continuous operation to torque control
mode:
"
Cd.150
Target torque at continuous operation to
torque control mode
"
1: Feedback torque .......... Motor torque value at switching.
(2) Speed initial value selection
Set the initial speed at switching from position control mode to speed control
mode or the initial speed at switching from position control mode or from
speed control mode to continuous operation to torque control mode.
0: Command speed ......... Speed that position command at switching is
converted into the motor speed.
1: Feedback speed .......... Motor speed received from servo amplifier at
switching
2: Automatic selection ...... The lower speed between speed that position
command at switching is converted into the motor
speed and motor speed received from servo
amplifier at switching. (This setting is valid only
when continuous operation to torque control mode
is used. At switching from position control mode to
speed control mode, operation is the same as "0:
Command speed".)
(3) Condition selection at mode switching
Set the valid/invalid of switching conditions for switching control mode.
0: Switching conditions valid (for switching control mode)
1: Zero speed ON condition invalid (for switching control mode)
Note) The "Operation setting for speed-torque control mode" is included in detailed
parameters 2, but it will be valid at the rising edge (OFF to ON) of the PLC
READY signal [Y0].
POINT
Set "1: Zero speed ON condition invalid (for switching control mode)" to switch the
control mode without waiting for the servo motor to stop. Note that it may cause
vibration or impact at control switching.
Summary of Contents for MELSEC-L Series
Page 2: ......
Page 30: ...MEMO ...
Page 70: ...2 10 Chapter 2 System Configuration MEMO ...
Page 83: ...3 13 Chapter 3 Specifications and Functions MEMO ...
Page 103: ...3 33 Chapter 3 Specifications and Functions MEMO ...
Page 107: ...3 37 Chapter 3 Specifications and Functions MEMO ...
Page 111: ...3 41 Chapter 3 Specifications and Functions MEMO ...
Page 115: ...3 45 Chapter 3 Specifications and Functions MEMO ...
Page 140: ...4 22 Chapter 4 Installation Wiring and Maintenance of the Product MEMO ...
Page 253: ...5 113 Chapter 5 Data Used for Positioning Control MEMO ...
Page 342: ...5 202 Chapter 5 Data Used for Positioning Control MEMO ...
Page 438: ...7 20 Chapter 7 Memory Configuration and Data Process MEMO ...
Page 440: ...MEMO ...
Page 485: ...9 25 Chapter 9 Major Positioning Control MEMO ...
Page 594: ...9 134 Chapter 9 Major Positioning Control MEMO ...
Page 624: ...10 30 Chapter 10 High Level Positioning Control MEMO ...
Page 656: ...11 32 Chapter 11 Manual Control MEMO ...
Page 690: ...12 34 Chapter 12 Expansion Control MEMO ...
Page 798: ...13 108 Chapter 13 Control Sub Functions MEMO ...
Page 866: ...14 68 Chapter 14 Common Functions MEMO ...
Page 884: ...15 18 Chapter 15 Dedicated Instructions MEMO ...
Page 899: ...16 15 Chapter 16 Troubleshooting MEMO ...
Page 1036: ...Appendix 88 Appendices MEMO ...
Page 1039: ......