Mitsubishi Electric QD77MS User Manual page 666

[QD77MS4 operation example]
Cd.138 Control mode switching
request
Cd.139 Control mode setting
Cd.140 Command speed at speed
control mode
Cd.143 Command torque at torque
control mode
Cd.146 Speed limit value at torque
control mode
BUSY signal [XC]
Md.26
Axis operation status
Control mode
( Md.108 Servo status: b2, b3)
When the torque control mode is switched to the speed control mode, the
command speed immediately after the switching is the motor speed at switching.
The following chart shows the operation timing for axis 1.
V
Speed control mode
30000
20000
0
20.0%
6 to 11ms
0
10
20000
0
0
ON
31
[1, 0]
(Note): Refer to Section 3.3 for input/output signal of QD77MS16 and Chapter 5 for buffer memory address.
Torque control mode
Torque
0
1 0
20
0
200
30 32
12 - 12
Chapter 12 Expansion Control
Speed control mode
t
6 to 11ms
1
10
0
50000
30
[0, 1]
t
0
30000
31
[1, 0]