Mitsubishi Electric MELSEC iQ-R Series User Manual page 263

• 1: mcBuffered
1.
When the first instruction is completed, a cst change request is issued to the driver.
2.
When the driver mode turns to the cst, the acceleration/deceleration process of the torque and the velocity is started from
the current actual torque and the set velocity.
FB1: Execute
FB1: Busy
FB1: Active
FB1: Done
FB2: Execute
FB2: Busy
FB2: Active
FB2: InTorque
AxisName.Md.SetVelocity
LimitVelocity(FB2)
=1000
Velocity(FB1)
=750
Torque(FB2)
=300.0
Target torque
Torque actual value
AxisName.Md.AxisStatus
5: DiscreteMotion
Modes of operation
AxisName.Md.
Driver_Mode
FB1 FB2
6: ContinuousMotion
csp
8: csp
Stop while waiting
for switching
The set torque immediately after the cst
mode switching depends on the torque
initial value selection.
(Example of the setting of 1: Actual torque)
cst
10: cst
7 DIRECT CONTROL
261
7.2 Torque Control
7