Mitsubishi Electric MELSEC iQ-R Series User Manual page 266

When starting another instruction during this FB execution
■Torque control  Stop instruction (MC_Stop)
Velocity
10000.0
5000.0
Execute
InTorque
Busy
Active
CommandAborted
Error
ErrorID
LimitVelocity
MC_Stop: Execute
AxisName.Md.
4: Standstill
AxisStatus
Modes of operation
AxisName.Md.
Driver_Mode
■Torque control  Positioning (Absolute value/Relative value positioning)
Aborting/Buffered
1.
A csp change request is issued to the driver.
2.
Started positioning instruction is analyzed, and the axis waits until the driver switches to the csp. (Even if the axis issues
the switching request to the csp during operation, switching may not be carried out depending on the driver
specifications. If switching to the csp is not completed within 1 second, a timeout will occur and the csp will be
continued.)
3.
While waiting for switching, torque control is continued with the torque and the limit velocity at switching.
4.
When the driver switches to the csp, the positioning control starts.
The deceleration distance may not be secured and the target position may be overrun depending on the travel
distance switching from the csv mode to the csp mode. In this case, the axis operates based on
AxisName.Pr.OverrunOperation.
For operation at the overrun occurrence, refer to the following.
Page 107 Multiple Start (Buffer Mode)
Precautions
If the axis overruns while waiting for switching, it will stop immediately after switching to csp.
7 DIRECT CONTROL
264
7.2 Torque Control
10000.0
6: ContinuousMotion
csp cst
8: csp
0
5000.0
10: cst
4: Standstill
csp
8: csp