Mitsubishi Electric QD77MS User Manual page 670

[QD77MS4 operation example]
Cd.138 Control mode switching
request
Cd.139 Control mode setting
BUSY signal [XC]
Md.26 Axis operation status
Md.124 Control mode switching status
Continuous operation to torque control
( Servo status3: b14)
Md.125
Cd.147 Speed limit value at continuous
operation to torque control mode
Cd.150 Target torque at continuous
operation to torque control mode
Control mode
( Servo status: b2, b3)
Md.108
The following chart shows the operation timing for axis 1.
V
Position control mode
1000
0
Torque
30.0%
0
0
0
ON
0
OFF
0
0
(Note): Refer to Section 3.3 for input/output signal of QD77MS16 and Chapter 5 for buffer memory address.
Continuous operation to torque control mode
Contact with
target
6 to 11
ms
1 0
30
33
1 0
ON
1000
300
[0, 0]
12 - 16
Chapter 12 Expansion Control
Position control mode
6 to 11
ms
1 0
0
OFF
30 0
1 0
0
0
: Depending on the positioning method.
t
t