Mitsubishi Electric Q172DSCPU, Руководство по программированию

Страница: 205 / 312

8 - 6
8 AUXILIARY AND APPLIED FUNCTIONS
• Continuous operation to torque control
Torque control mode Speed control mode Position control mode
1) 2) 3) 4) 5) 6)
Continuous operation
to torque control mode Continuous operation
to torque control mode Continuous operation
to torque control mode
Switching operation Switching condition
1)
Position control mode Continuous operation
to torque control mode
During synchronous control
(Note-1)
2)
Continuous operation to torque control mode
Position control mode
During synchronous control
(Note-1)
and during
motor stop
(Note-2)
3)
Speed control mode Continuous operation to
torque control mode
4)
Continuous operation to torque control mode
Speed control mode
During synchronous control
(Note-1)
5)
Torque control mode Continuous operation to
torque control mode
6)
Continuous operation to torque control mode
Torque control mode
Switching not possible
(Note-1): The [St.380] Synchronous control (n) is ON.
During the synchronous control mode switching analysis or during the synchronous control stop due
to [Rq.380] Synchronous control start (n) ON to OFF or stop factor occurrence, the control
mode switching request is ignored.
(Note-2): ZERO speed (b3) of Servo status2 (#8011+20n)
is ON.
The control mode can be changed without checking the switching condition of "during motor stop" in
Motion CPU by setting "1: Condition during zero speed at control mode switching: invalid" in "Invalid
selection during zero speed at control mode switching". Set "1: Condition during zero speed at
control mode switching: invalid" to switch the control mode without waiting for stop of servo motor.
(c) The command speed at speed control is the speed command to the output
axis. The command speed at torque/continuous operation to torque control
is the speed limit value.
(d) Command torque at torque control and continuous operation to torque
control are set in the "torque command device" of "speed-torque control
data". The command torque is limited with "Torque limit
value at speed-
torque control". If the torque exceeds torque limit value is set, a minor error
(error code: 316) will occur, the operation is controlled with torque limit value
at speed-torque control.
Torque limit value to servo amplifier can be changed within the range of
"Torque limit value at speed-torque control" by torque limit value change
request (CHGT, D(P).CHGT) or torque limit value individual change request
(CHGT2, D(P).CHGT2). If the change outside the range of "Torque limit
value at speed-torque control" is requested by torque limit value change
request torque limit value individual change request, a minor error (error
code: 319) will occur, and the torque limit value is not changed.