Chapter 7 Direct Control - Mitsubishi Electric MELSEC iQ-R Series User Manual

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DIRECT CONTROL
Direct control includes velocity control and torque control. The operation details of each control is as shown below.
Control Name Driver control mode
Velocity control Position control (csp)
Velocity control (csv)
Torque control Torque control (cst)
The driver side control mode must be csp at connection.
Switching the driver control mode is simultaneously executed when a motion control FB is executed. The following shows the
state transition.
MC_TorqueControl
Cyclic torque mode
(cst)
*1 Transits after the axis stops by homing completion or error occurrence.
*2 Transits at stop completion or error occurrence.
*3 Transits when Aborting or Buffered is executed to an instruction other than MC_MoveVelocity and MC_TorqueControl.
Applicable instruction
MCv_SpeedControl
MC_MoveVelocity
MC_TorqueControl
Start
Cyclic position mode
(csp)
*2
*3 *3
MC_MoveVelocity
MC_TorqueControl
Operation details
This function outputs the commanded position based on the set
velocity for each control cycle.
This function outputs the set velocity for each control cycle.
(Excluding the position loop.)
This function outputs the commanded torque for each control
cycle. (Excluding the position loop.)
MC_Home
Homing mode
(hm)
*1
MC_MoveVelocity
Cyclic speed mode
(csv)
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