Mitsubishi Electric QD77MS User Manual page 330

Setting item
[Cd.136] PI-PID switching request
[Cd.138] Control mode switching
request
[Cd.139] Control mode setting
[Cd.140] Command speed at speed
control mode
[Cd.141] Acceleration time at speed
control mode

Set the PI-PID switching to servo amplifier.
Fetch cycle: Operation cycle

Request the control mode switching.
Set "1" after setting "[Cd.139] Control mode setting".

The Simple Motion module sets "0" at completion of control mode switching.
Fetch cycle: Operation cycle

Set the control mode to be changed in the speed-torque control.
Fetch cycle: At control mode switching

Set the command speed at speed control mode.

The setting value range differs according to the "[Pr.1] Unit setting".
mm
[Pr.1] Unit
-2

setting
( 10 mm/min)
-2000000000 to
Setting range
2000000000
: When "[Pr.83] Speed control 10 x multiplier setting for degree axis" is valid,
this will be the setting range -2000000000 to 2000000000 (  10
Fetch cycle: Operation cycle (At speed control mode)

Set the acceleration time at speed control mode.
(Set the time for the speed to increase from "0" to "[Pr.8] Speed limit value".)
0 to 65535 (ms)
Fetch cycle: At control mode switching
5 - 192
Chapter 5 Data Used for Positioning Control
Setting details
inch degree
-3 -3
 
( 10 inch/min) ( 10 degree/min)
-2000000000 to -2000000000 to
2000000000 2000000000
PLS
(PLS/s)
-1000000000 to
1000000000
-2
degree/min).