Mitsubishi Electric RD77MS2 User Manual page 117

Current feed value
The following table shows the "[Md.20] Current feed value" during speed-position switching control (INC mode) corresponding
to the "[Pr.21] Current feed value during speed control" settings.
"[Pr.21] Current feed value during speed control" setting
0: Do not update current feed value
1: Update current feed value
2: Zero clear current feed value
Speed Position
V
control control
Current
Maintained Updated
feed value
(a) Current feed value not updated
Switching time from speed control to position control
It takes 1 ms from the time the speed-position switching signal is turned ON to the time the speed-position switching latch flag
([Md.31] Status: b1) turns ON.
OFF
Speed-position
switching signal
Speed-position OFF
switching latch flag
Speed
V
control
t
Current
feed value
(b) Current feed value updated
ON
ON
1 ms
[Md.20] Current feed value
The current feed value at control start is maintained during speed control, and
updated from the switching to position control.
The current feed value is updated during speed control and position control.
The current feed value is cleared (set to "0") at control start, and updated from
the switching to position control.
Position
control
t
Current
Updated
feed value
3 MAJOR POSITIONING CONTROL
Speed Position
V
control control
Updated from 0
0
(c) Current feed value zero cleared
3.2 Setting the Positioning Data
3
t
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