Mitsubishi Electric MELSEC iQ-R16MTCPU, Руководство по программированию

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7 AUXILIARY AND APPLIED FUNCTIONS
7.5 Speed-Torque Control
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7
The following chart shows the operation timing.
When the mode is switched from continuous operation to torque control mode to speed control mode, the
torque command during continuous operation to torque control is invalid. As shown in the figure above, when
the target is pressed in continuous operation to torque control direction, if the mode is switched to speed
control, torque is output to the torque limit value.
Execute the following either if such operation will be a problem.
• Set the speed command which is in opposite direction of continuous operation to torque control direction in
the speed command device before switching to the speed control mode.
• Change the torque limit value to the lower value by torque limit value change request (CHGT) before
switching to the speed control mode.
-10000
10000
10
V
[1, 0]
300 0
1000 -10000 10000
[0] [1] [0]
30.0%
Torque
0
Continuous operation to torque
control mode
Speed control mode Speed control mode
30: Continuous operation to torque control mode
Control mode switching
request device
Control mode setting device
Control mode (b2, b3)
([Md.108] Servo status1
(R: 48n/Q: #8010+20n))
[St.1040] Start accept flag
(R: n/Q: M2001+n)
Torque command device
Speed command device
(During continuous operation
to torque control: Speed limit
command value)
Control mode (b14)
([Md.125] Servo status3
(R: 48n/Q: #8012+20n))
t
1000
0
Contact with target
t
OFF
ON
ON
10: Speed control mode