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9. INTERFACE MODE
9.5.7 Procedure for switching control mode
The procedure when switching control mode is as follows.
(1) Position control mode
Switch to position control mode is performed with the following procedure.
(a) Check that zero speed (ZSP) is turned ON.
(b) Perform a follow up to update the position command to match the current feedback position.
(c) Input "0: Position control mode" to the control mode command.
(d) Check that control mode status is "0: Position control mode".
(e) Stop follow up.
API LIBRARY
• To check if zero speed (ZSP) is ON/OFF in (a) above, set
SSC_STSBIT_AX_ZSP to the status bit number with the
sscGetStatusBitSignalEx or sscWaitStatusBitSignalEx functions.
• Use the sscIfmRenewLatestBufferEx function to perform follow up in (b)
above.
• Use the sscIfmSetControlMode function to set control mode command in (c)
above.
• Use the sscIfmGetControlMode function to check control mode status in (d)
above.
(2) Speed control mode
Switch to speed control mode is performed with the following procedure.
(a) Check that zero speed (ZSP) is turned ON.
(Not required when switching from torque control mode)
(b) Input "1: Speed control mode" to the control mode command.
(c) Check that control mode status is "1: Speed control mode".
POINT
• Use the value of the torque limit (parameter No.0212, No.0211) during speed
control mode. Set the value before switching modes.
API LIBRARY
• To check if zero speed (ZSP) is ON/OFF in (a) above, set
SSC_STSBIT_AX_ZSP to the status bit number with the
sscGetStatusBitSignalEx or sscWaitStatusBitSignalEx functions.
• Use the sscIfmSetControlMode function to set control mode command in (b)
above.
• Use the sscIfmGetControlMode function to check control mode status in (c)
above.