Mitsubishi Electric MELSEC iQ-R Series User Manual page 264

■Velocity control(FB1)  Torque control (FB2)
• 0: mcAborting
1.
A cst change request is issued to the driver.
2.
While waiting for change, csv is continued.
3.
When the driver mode turns cst, the torque increase/decrease is started from the current actual torque, and the
acceleration/deceleration process of the velocity from the set velocity is started.
FB1: Execute
FB1: Busy
FB1: Active
FB1: InVelocity
FB1: CommandAborted
FB2: Execute
FB2: Busy
FB2: Active
FB2: InTorque
AxisName.Md.SetVelocity
Velocity(FB1)
=1000
LimitVelocity(FB2)
=750
Torque(FB2)
=400.0
Torque actual value
Target torque
AxisName.Md.AxisStatus
Modes of operation
AxisName.Md.
Driver_Mode
7 DIRECT CONTROL
262
7.2 Torque Control
FB1 FB2
6: ContinuousMotion
csv
9: csv
The current speed is maintained while waiting
for switching. (The set velocity when Execute
of the FB2 is TRUE)
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