Mitsubishi Electric Q Series, Руководство по программированию

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10 - 7
10 AUXILIARY AND APPLIED FUNCTIONS
10.2 Speed-Torque Control
QDS
Control mode can be switched for output axis of mechanical system and real mode
axis during virtual mode.
(1) Speed-torque control in output axis of mechanical system
(a) The speed-torque control can be executed for output axis of roller, ball screw
and rotary table as output module. When the control mode switching is
executed for output axis of cam, a minor error (error code: 6240) will occur,
and the control mode is not switched. When switching the mode to speed
control mode or torque control mode, the control mode switching is possible
during motor stop. When the motor is operating at control mode switching
request, a minor error (error code: 6200) will occur, and the control mode is
not switched. The mode can be switched to continuous operation to torque
control mode even when the motor is operating.
(b) In the speed-torque control in output axis of mechanical system, the setting
value of "Speed command device" is not referred, and the command speed
to output axis is the value of command speed. Command speed
acceleration time, command speed deceleration time and initial speed
selection at control mode switching are also invalid. (For speed limit value,
the value set in each output axis module is valid.)
(c) Control the command torque by setting torque command value in the torque
command device set in speed-torque control data same as real mode.
Torque limit value change request (D(P).CHGT, CHGT) is invalid (no
operation), and the torque limit value to servo amplifier can be changed
within the range of torque limit value at speed-torque control by the value of
torque limit value setting device. (If the value is outside the range, a minor
error (error code: 6250) will occur.)
Only when the torque limit value setting device of output module is not set,
the torque limit value to servo amplifier can be changed within the range of
torque limit value at speed-torque control by the torque limit value individual
change request (D(P).CHGT2, CHGT2). If the value exceeds the torque limit
value at speed-torque control is set in positive direction torque limit value or
negative direction torque limit value, a minor error (error code: 6250) will
occur, and the torque limit value is not changed.
(2) Cautions at control mode switching
(a) When using continuous operation to torque control mode, use servo
amplifiers that support continuous operation to torque control. When using
servo amplifiers that do not support continuous operation to torque control, a
major error (error code: 11050) will occur at switching to continuous
operation to torque control mode request, and the operation continues
based on the parameter settings at major error occurrence, or the clutch is
OFF.