Mitsubishi Electric MELSEC-Q Series User Manual page 597

Cd.138 Control mode switching
request
Cd.139 Control mode setting
Cd.140 Command speed at speed
control mode
Cd.143 Command torque at torque
control mode
Cd.146 Speed limit value at torque
control mode
BUSY signal [X10]
Md.26 Axis operation status
Control mode
( Md.108 Servo status: b2, b3)
[RJ010 mode]
*1: 6 to 11ms
[CiA402 mode]
*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-J4-GF use, the control mode switches after the motor speed becomes zero.
When the torque control mode is switched to the speed control mode, the
command speed immediately after the switching is the motor speed at switching.
The following chart shows the operation timing for axis 1.
V
Speed control mode
30000
20000
0
Torque
20.0%
0
*1
0
10
20000
0
0
ON
31
[1, 0]
Torque control mode
1 0
20
0
200
50000
30 32
[0, 1]
12 - 11
Chapter 12 Expansion Control
Speed control mode
t
*1
1 0
10
30000
0
30 31
[1, 0]
t