12 - 13
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. Change the setting of
"Condition selection at mode switching (b12 to b15)" in "
Pr.90
Operation setting for speed-torque control mode
"
when switching the control mode without waiting for the servomotor to stop. Note that it may cause
vibration or impact at control switching. (Refer to Section 5.2.4 "Detailed parameters 2".)
Buffer memory address (Low-order)
LD77MS2/LD77MS4
LD77MS16
Md.108
Servo status
: b3
876+100n 2476+100n
n: Axis No.-1
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 ...
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