Mitsubishi Electric MELSEC iQ-R Series User Manual page 542

[Cd.139] Control mode setting
Set the control mode to be changed in the speed-torque control.
Fetch cycle: At control mode switching
■Setting value
• Set with a decimal.
Setting value
0
10
20
30
■Buffer memory address
Refer to the following for the buffer memory address in this area.
Page 402 Axis control data
■Default value
Set to "0".
[Cd.140] Command speed at speed control mode
Set the command speed at speed control mode.
Fetch cycle: Operation cycle (At speed control mode)
■Setting range
• Set with a decimal.
• The setting value range differs according to "[Pr.1] Unit setting".
Setting of "[Pr.1] Unit setting"
0: mm
1: inch
*1
2: degree
3: pulse
*1 When "[Pr.83] Speed control 10  multiplier setting for degree axis" is valid, the setting range is -2000000000 to 2000000000 (  10
degree/min).
■Buffer memory address
Refer to the following for the buffer memory address in this area.
Page 402 Axis control data
■Default value
Set to "0".
[Cd.141] Acceleration time at speed control mode
Set the acceleration time at speed control mode. (Set the time for the speed to increase from "0" to "[Pr.8] Speed limit value".)
Fetch cycle: At control mode switching
■Setting range
• Set with a decimal.
Setting range of [Cd.141] (Unit)
0 to 65535 (ms)
■Buffer memory address
Refer to the following for the buffer memory address in this area.
Page 402 Axis control data
■Default value
Set to "1000".
12 DATA USED FOR POSITIONING CONTROL
540
12.8 Control Data
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Details
Position control mode
Speed control mode
Torque control mode
Continuous operation to torque control mode
Value set with a program (unit)
-2
-2000000000 to 2000000000(  10
-3
-2000000000 to 2000000000 (  10
-3
-2000000000 to 2000000000 (  10
-1000000000 to 1000000000 (pulse/s)
mm/min)
inch/min)
degree/min)
-2