Mitsubishi Electric QD77MS User Manual page 663

[QD77MS4 operation example]
Cd.138 Control mode switching
request
Cd.139 Control mode setting
Command speed at speed
Cd.140
control mode
BUSY signal [XC]
Md.26 Axis operation status
Control mode
( Md.108 Servo status: b2, b3)
Zero speed
( Md.108 Servo status: b3)
The following chart shows the operation timing for axis 1.
V
Position control mode
30000
20000
0
6 to 11ms
0 1
0
0
OFF
0
[0, 0]
ON
(Note): Refer to Section 3.3 for input/output signal of QD77MS16 and Chapter 5 for buffer memory address.
Speed control mode
0
10
20000 30000
ON
30 31
[1, 0]
OFF
12 - 9
Chapter 12 Expansion Control
Position control mode
6 to 11ms
1 0
0
0
30 0
[0, 0]
t