12 - 8
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 control mode with "control mode (high-order buffer memory address:
b2, b3)" of "
Md.108
Servo status
". (Refer to Section 5.6.2 "Axis monitor data".)
Buffer memory address (High-order)
LD77MS2/LD77MS4
LD77MS16
Md.108
Servo status
: b2, b3
877+100n 2477+100n
n: Axis No.-1
Precautions at control mode switching
(1) The start complete signal and the positioning complete signal do not turn ON at
control mode switching.
(2) When "30: Control mode switch", "31: Speed control", or "32: Torque control" is
set in "
Md.26
Axis operation status
", the BUSY signal turns ON.
(3) The motor speed might change momentarily at switching from the speed
control mode to the torque control mode. Therefore, it is recommended that
the control mode is switched from the speed control to the torque control after
the servomotors stop.
(4) Use the continuous operation to torque control mode for the usage such as
pressing a workpiece. Do not execute the continuous operation to torque
control in the speed control mode. Otherwise, an unexpected operation might
occur at switching to the position control mode.
(5) "In speed control flag" (
Md.31
Status
: b0) does not turn ON during the speed
control mode in the speed-torque control.
Operation for "Position control mode
↔
Speed control mode switching"
When the position control mode is switched to the speed control mode, the
command speed immediately after the switching is the speed set in "speed initial
value selection (b8 to b11)" of "
Pr.90
Operation setting for speed-torque control mode
".
Speed initial value selection
(
Pr.90
: b8 to b11)
Command speed to servo amplifier immediately after switching from
position control mode to speed control mode
0: Command speed
The speed to servo amplifier immediately after switching is "0".
1: Feedback speed
Motor speed received from servo amplifier at switching.
2: Automatic selection
The command speed is invalid due to the setting of continuous
operation to torque control mode. At control mode switching,
operation is the same as "0: Command speed".
When the speed control mode is switched to the position control mode, the
command position immediately after the switching is the current feed value at
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: ......