Mitsubishi Electric RD77MS2 User Manual page 205

The following chart shows the operation timing for axis 1.
■RD77MS4 operation example
30.0%
[Cd.138] Control mode switching request
[Cd.139] Control mode setting
BUSY signal [X10]
[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
Control mode
([Md.108] Servo status1: b2, b3)
V
Position control mode
1000
0
Torque
0
6 to 11 ms
0 1
0
ON
**
0 1
OFF
0
0
Continuous operation
to torque control mode
Contact with
target
6 to 11 ms
0 1
30
33
0
ON
1000
300
[0, 0]
**: Depending on the positioning method.
Position control mode
t
t
0
0
OFF
30 0 **
1 0
0
0
7 EXPANSION CONTROL
7.1 Speed-torque Control
7
203