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6. APPLICATION FUNCTIONS
6.31.3 Control mode switch
For control mode switch, there are the two following methods that can be selected for both "switching from
position control mode to continuous operation to torque control mode" and "switching from continuous
operation to torque control to position control mode"
• Automatic switch
• Manual switch
(1) Control mode switch setting
The setting contents and setting values required for each switch pattern are shown in the following table.
Switch pattern Switch method Setting items Setting values
Switching from position
control mode to
continuous operation to
torque control mode
Automatic switch Continuous operation to torque
control switching position
Position to switch to continuous operation to torque
control mode [command units]
Start switch to continuous operation
to torque control condition
0000h, 0001h: Automatic switch
(position command)
0010h, 0011h: Automatic switch
(current feedback position)
Manual switch Start switch to continuous operation
to torque control condition
0002h, 0012h: Manual switch
Switching from
continuous operation to
torque control mode to
position control mode
Automatic switch End switch to continuous operation
to torque control condition
0000h to 0002h: Automatic switch
Manual switch End switch to continuous operation
to torque control condition
0010h to 0012h: Manual switch
(2) Procedure for switching from position control mode to continuous operation to torque control mode
(a) Switch method: Automatic switch
1) The position board automatically switches the control mode thus processing by user program is not
required.
(The position board determines the continuous operation to torque control switching position, and
automatically switches to continuous operation to torque control mode once the position is reached.)
(b) Switch method: Manual switch
1) Set the control mode command to "3: Continuous operation to torque control mode".
2) Turn ON control mode switch command (CTLMC). (Have the switch timing determined by user
program)
3) After confirming control mode switch complete (CTLMCF) is ON, turn OFF control mode switch
command (CTLMC).
(3) Procedure for switching from continuous operation to torque control mode to position control mode
(a) Switch method: Automatic switch
1) The position board automatically switches the control mode thus processing by user program is not
required.
(Control mode is automatically returned to position control mode after the press time has passed
since the starting of torque output within the torque settle width of the target torque.)
(b) Switch method: Manual switch
1) Set the control mode command to "0: Position control mode".
2) Turn ON control mode switch command (CTLMC). (Have the switch timing determined by user
program)
3) After confirming control mode switch complete (CTLMCF) is ON, turn OFF control mode switch
command (CTLMC).