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6. APPLICATION FUNCTIONS
(6) Axis command/status data
The axis command/status data for continuous operation to torque control are shown below.
(a) Axis command table
Address Name
Setting
range
Remarks
When in
tandem drive
1032 Control mode command Refer to
remarks
Set the mode to switch to.
0000h: Position control mode
0001h: Speed control mode
(interface mode only)
0002h: Torque control mode
(interface mode only)
0010h: Continuous operation to torque control
mode (standard mode only)
Not
supported
1033
Note. The addresses above are the addresses for the first axis. For the second axis and after, increase by C0h for each axis.
(b) Axis status table
Address Name Output limits Remarks
When in
tandem drive
1092 Control mode status Refer to
remarks
The current control mode is shown below.
000h: Position control mode
001h: Speed control mode
002h: Torque control mode
010h: Continuous operation
to torque control
0: Control mode switch normal
8: Control mode switch error
(Note 1)
Not
supported
1093
Note 1. When the control mode switch error (CTLMCE) is ON, the status is control mode switch error.
2. The addresses above are the addresses for the first axis. For the second axis and after, increase by C0h for each axis.
POINT
• When a selection other than manual switch is selected for the continuous
operation to torque control operating conditions, control mode switch is
automatically performed by the position board.
API LIBRARY
• Use the sscChangeControlMode function for switching the control mode of the
servo amplifier.