12 - 14
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 status of the continuous operation to torque control mode with "b14:
Continuous operation to torque control mode" of "
Md.125
Servo status3
". When the
mode is switched to the continuous operation to torque control mode, the value in
"control mode (high-order buffer memory address: b2, b3)" of "
Md.108
Servo status
"
remains the same as before
switching the control mode. (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
POINTS
(1) When the mode is switched from position control mode to continuous
operation to torque control mode, only the switching from continuous operation
to torque control mode to position control mode is possible. If the mode is
switched to other control modes, the warning "Control mode switching not
possible" (warning code: 125) will occur, and the control mode is not switched.
(2) When the mode is switched from speed control mode to continuous operation
to torque control mode, only the switching from continuous operation to torque
control mode to speed control mode is possible. If the mode is switched to
other control modes, the warning "Control mode switching not possible"
(warning code: 125) will occur, and the control mode is not switched.
Precautions at control mode switching
(1) The start complete signal and positioning complete signal do not turn ON at
control mode switching.
(2) When "33: Continuous operation to torque control mode" is set in "
Md.26
Axis
operation status
" and "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
", the BUSY
signal turns ON.
(3) When using the continuous operation to torque control mode, use the servo
amplifiers that are compatible with the continuous operation to torque control.
If the servo amplifiers that are not compatible with the continuous operation to
torque control are used, the error "Continuous operation to torque control not
supported" (error code: 550) occurs at request of switching to continuous
operation to torque control mode, and the operation stops. (In the positioning
control, the operation stops according to the setting of "
Pr.39
Stop group 3
sudden stop selection
". In the speed control, the mode switches to the position
control, and the operation immediately stops.)
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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