Mitsubishi Electric MELSEC-Q Series User Manual page 595

Cd.138 Control mode switching
request
Cd.139 Control mode setting
Cd.143 Command torque at torque
control mode
Cd.146 Speed limit value at torque
control mode
BUSY signal [X10]
Md.26 Axis operation status
Control mode
Md.108
( Servo status: b2, b3)
Zero speed
( Md.108 Servo status: b3)
[RJ010 mode]
*1: 6 to 11ms
[CiA402 mode]
*1: The switching time differs by the specification of the servo amplifier. When "ZSP disabled selection at control switching" of the servo parameter
"Function selection C-E (PC76)" is set to "0: Enabled" at MR-J4-GF use, the control mode switches after the motor speed becomes zero.
When the torque control mode is switched to the position control mode, the
command position immediately after the switching is the feed current value at
switching.
The following chart shows the operation timing for axis 1.
Torque
Position control mode
30.0%
20.0%
0
*1
0 1
0
0
0
ON
OFF
0 30
[0, 0]
ON
Torque control mode
0
20
200 300
50000
32
[0, 1]
OFF
12 - 9
Chapter 12 Expansion Control
Position control mode
*1
1 0
0
0
30 0
[0, 0]
t