Mitsubishi Electric MR-J5-G User Manual page 79

• Control switching for continuous operation to torque control mode (ct)
To switch to continuous operation to the torque control mode (ct), the switching must be performed from the cyclic
synchronous position mode (csp) or cyclic synchronous velocity mode (csv). Only the "csp" and "csv" control modes switch to
"ct". To switch to "ct", set [Modes of operation (Obj. 6060h)] to "-104" while in the "csp" or "csv" control mode. Once the
condition for control switching is met, the control mode will switch to "ct", following which [Modes of operation display (Obj.
6061h)] is changed to "-104". If the condition is not met, the control mode will not be switched and the value in [Modes of
operation display] will not be changed.
Continuous operation to torque control cannot be changed to "cst", "hm", etc. Refer to the following table for details.
[Modes of operation] = 8
CSP mode
[Modes of operation display] = 8
[Modes of operation] = 8
The continuous operation to torque control mode cannot be changed to the profile modes.
PP mode
[Modes of operation display] = 1
Switching operation
(1) Cyclic synchronous position mode → Cyclic synchronous torque mode
(2) Cyclic synchronous position mode → Continuous operation to torque control mode
(3) Cyclic synchronous torque mode, Continuous operation to torque control mode → Cyclic
synchronous position mode
(4) Cyclic synchronous velocity mode → Cyclic synchronous torque mode, Continuous operation
to torque control mode
(5) Cyclic synchronous torque mode, Continuous operation to torque control mode → Cyclic
synchronous velocity mode
(6) Cyclic synchronous position mode → Cyclic synchronous velocity mode
(7) Cyclic synchronous velocity mode → Cyclic synchronous position mode
*1 The state where S_ZSP (Bit 3 of [Status DO 2 (Obj. 2D12h)]) is turned on. (Servo motor speed being less than zero speed set in [Pr.
PC07])
CST mode
(3)
[Modes of operation display] = 10
(1)
[Modes of operation] = 10
[Modes of operation] = 9
[Modes of operation] = 8
[Modes of operation] = -104
(2)
Continuous operation
to torque control mode
(3)
[Modes of operation display] = -104
PV mode
[Modes of operation display] = 3
(5)
[Modes of operation] = 9
(4)
[Modes of operation] = 10
(6)
[Modes of operation display] = 9
(7)
[Modes of operation] = -104
(4)
[Modes of operation] = 9
(5)
[Modes of operation display] = 4
Switching condition
Servo motor being stopped
No condition
Servo motor being stopped
No condition
Servo motor being stopped
Servo motor being stopped
CSV mode
TQ mode
*1
*1
*1
*1
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1.4 APPENDIX
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