Mitsubishi Electric MELSEC iQ-R Series User Manual page 208

The following chart shows the operation when "1: Feed current value pass" is set in "[Cd.153] Control mode auto-shift
selection".
[Cd.138] Control mode switching request
[Cd.139] Control mode setting
[Cd.153] Control mode auto-shift selection
[Cd.154] Control mode auto-shift parameter
[Md.26] Axis operation status
[Md.124] Control mode switching status
Continuous operation to torque control
([Md.125] Servo status3: b14)
[Cd.147] Speed limit value at continuous
operation to torque control mode
[Cd.150] Target torque at continuous
operation to torque control mode
*1 The switching time differs by the specification of the servo amplifier. When "ZSP disabled selection at control switching" of the servo
parameter "Function selection C-E (PC76)" is set to "0: Enabled" at MR-J5(W)-G used, the control mode switches after the motor speed
becomes zero.
When the control mode of the servo amplifier does not change within 1 second, the error "Control mode switching error" (error code:
1F04H) occurs.
7 EXPANSION CONTROL
206
7.1 Speed-torque Control
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V
Position control mode
1000
0
Feed current value passes the address
"adr" set in "[Cd.154] Control mode
auto-shift parameter".
Torque
30.0%
0
0
**
0
0
**
0
OFF
0
0
search engine
Continuous operation to
torque control mode
Contact with target
*1
1 0
30 **
1
adr
33
2 1 0
ON
1000
300
**: Depending on the control mode.
t
t