Mitsubishi Electric MELSEC iQ-R Series User Manual page 547

[Cd.153] Control mode auto-shift selection
Set the switching condition when switching to continuous operation to torque control mode.
Fetch cycle: At control mode switching
■Setting value
• Set with a decimal.
Setting Details
value
0 No switching condition
1 Feed current value pass
2 Real current value pass
■Buffer memory address
Refer to the following for the buffer memory address in this area.
Page 402 Axis control data
■Default value
Set to "0".
[Cd.154] Control mode auto-shift parameter
• Set the condition value when setting the control mode switching condition.
• The setting value differs depending on the value set in "[Cd.153] Control mode auto-shift selection". When "1" or "2" is set
in "[Cd.153] Control mode auto-shift selection": Set the switching address.
Fetch cycle: At control mode switching
■Setting range
• Set with a decimal.
• The setting value range differs according to "[Pr.1] Unit setting".
Setting of "[Pr.1] Unit setting"
0: mm
1: inch
2: degree
3: pulse
■Buffer memory address
Refer to the following for the buffer memory address in this area.
Page 402 Axis control data
■Default value
Set to "0".
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Switching is executed at switching request to continuous operation to torque control mode.
Switching is executed when "[Md.20] Feed current value" passes the address set in "[Cd.154] Control mode
auto-shift parameter" after switching request to continuous operation to torque control mode.
Switching is executed when "[Md.101] Real current value" passes the address set in "[Cd.154] Control mode
auto-shift parameter" after switching request to continuous operation to torque control mode.
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Value set with a program (unit)
-1
-2147483648 to 2147483647 (  10
-5
-2147483648 to 2147483647 (  10
-5
0 to 35999999 (  10
degree)
-2147483648 to 2147483647 (pulse)
12 DATA USED FOR POSITIONING CONTROL
m)
inch)
12.8 Control Data
12
545