Mitsubishi Electric MELSEC-L Series, User Manual

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12 - 19
Chapter 12 Expansion Control
Operation for switching from "Position control mode" to "Continuous
operation to torque control mode" automatically
To switch to the continuous operation to torque control mode automatically when
the conditions set in "
Cd.153
Control mode auto-shift selection
" and "
Cd.154
Control
mode auto-shift parameter
" are satisfied, set the control data necessary in the
continuous operation to torque control mode, "
Cd.153
Control mode auto-shift
selection
" and "
Cd.154
Control mode auto-shift parameter
", and then set "30:
Continuous operation to torque control mode" in "
Cd.139
Control mode setting
" and
"1: Switching request" in "
Cd.138
Control mode switching request
".
In this case, the current control is continued until the setting condition is satisfied
after control mode switching request, and "2: Waiting for the completion of control
mode switching condition" is set in "
Md.124
Control mode switching status
".
When the set condition is satisfied, "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
".
"0" is stored in "
Cd.138
Control mode switching request
" and "
Md.124
Control mode
switching status
" after completion of switching.
If "
Cd.154
Control mode auto-shift parameter
" is outside the setting range, the error
"Outside control mode auto-shift switching parameter range" (error code: 551)
occurs at control mode switching request, and the current processing 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.)