Mitsubishi Electric MELSEC iQ-R Series User Manual page 204

The following chart shows the operation timing for axis 1.
■4-axis module operation example
[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)
*1 The switching time differs by the specification of the servo amplifier. When "ZSP disabled selection at control switching" of the servo
parameter "Function selection C-E (PC76)" is set to "0: Enabled" at MR-J5(W)-G used, the control mode switches after the motor speed
becomes zero.
When the control mode of the servo amplifier does not change within 1 second, the error "Control mode switching error" (error code:
1F04H) occurs.
7 EXPANSION CONTROL
202
7.1 Speed-torque Control
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V
Position control mode
1000
0
Torque
30.0%
0
0
0
ON
**
0
OFF
0
0
search engine
Continuous operation
to torque control mode
Contact with target
*1
1
0
30
33
1 0
ON
1000
300
[0, 0]
**: Depending on the positioning method
Position control mode
t
t
*1
1 0
0
OFF
30 0 **
1 0
0
0