Buffermode - Mitsubishi Electric MELSEC iQ-R Series User Manual

BufferMode

When starting this FB during another instruction execution
While this FB is executed, only Aborting and Buffered are supported.
■Position control(FB1)  Torque control(FB2)
• 0: mcAborting
1.
A switching request to cst is issued to the driver.
2.
Until the driver is switched, the axis is operated at the previous velocity with the velocity control including the position
loop.
3.
When the driver switches to csv, the torque increase/decrease from the current actual torque starts and the acceleration/
deceleration process of speed limit value from the current set velocity starts.
FB1: Execute
FB1: Active
FB1: Busy
FB1: CommandAborted
FB2: Execute
FB2: Busy
FB2: Active
FB2: InTorque
AxisName.Md.SetVelocity
LimitVelocity(FB2)
=1000
Velocity(FB1)
=750
Torque actual value
Target torque
AxisName.Md.AxisStatus
Modes of operation
AxisName.Md.
Driver_Mode
7 DIRECT CONTROL
260
7.2 Torque Control
FB1 FB2
5: DiscreteMotion
csp
8: csp
The current speed is maintained while waiting
for switching. (The set velocity at switching of
FB2)
The set torque immediately after the cst mode
switching depends on the torque initial value
selection.
(Example of the setting of 1: Actual torque)
6: ContinuousMotion
cst
10: cst