Control mode changing over method for servo control system

A method for controlling a servo control system operating in a either a torque control mode or a position/velocity control mode, comprising the steps of:

• rewriting a value stored in an integrator into a torque command when the servo control system is operating in the torque control mode, such that the value stored in the integrator coincides with the torque command in the torque control mode;
• and
• outputting a torque command value using the value rewritten in the integrator when the control mode is changed from the torque control mode to the position/velocity control mode.

A servo control system for controlling a servo motor in a torque control mode or a position/velocity control mode, comprising:

• an integrator rewriting a value stored therein to a torque command for torque control when the system is operating in the torque control mode, and obtaining a torque command value using the value rewritten in the integrator such that the value stored in the integrator coincides with the torque command in the torque control mode;
• and
• a switch determining the control mode and outputting the torque command for the servo motor, driving the servo motor.