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
