Mitsubishi Electric MELSEC iQ-R Series User Manual page 269

■Torque control (FB1)  Velocity control (FB2)
1.
A csv switching request is issued to the driver.
2.
Started positioning instruction is analyzed, and the axis waits until the driver switches to the csv. (Even if the axis issues
the switching request to the csv during operation, switching may not be carried out depending on the driver
specifications. If switching to the csv is not completed within 1 second, an axis error will occur for the timeout, and the
axis will stop.)
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 csv, velocity control is started.
• 0: mcAborting
FB1: Execute
FB1: Busy
FB1: Active
FB1: InTorque
FB1: CommandAborted
FB2: Execute
FB2: Busy
FB2: Active
AxisName.Md.SetVelocity
LimitVelocity(FB1)
=1000
Velocity(FB2)
=750
Target Torque
Torque
=100.0
AxisName.Md.AxisStatus
Modes of operation
AxisName.Md.
Driver_Mode
FB1 FB2
6: ContinuousMotion
cst
10: cst
The current speed is maintained while
waiting for switching. (The set velocity at
switching of FB2)
The current set torque is maintained while
waiting for switching. (The set torque at
switching of FB2)
csv
9: csv
7 DIRECT CONTROL
267
7.2 Torque Control
7