On the fly change between speed and torque control mode?

[CHuan.8]

My question is how to on the fly change between speed and torque control mode.

Is there any tips or example codes available?

Thx!

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[CKlei.1]

Hey CHuan

I did some tests with changing the mode on the fly. In my application, I use torque mode for run up and switch to speed mode when reached a certain speed. I get it running but not as smooth as I would like.

To change from torque mode to seed mode, I monitor the actual speed of the motor. When reaching a certain limit, I programm a speed ramp with the actual Speed and zero rampup time.

In the next loop, I control if this command was executed. If so, I then programm a new ramp with the speed setPoint & desired ramp time.

If you have found a better solution in the meantime, I'll be interested in it.

Regards

Chris