Mitsubishi Electric MELSEC-Q Series - Page 476

7 - 31
7 AUXILIARY AND APPLIED FUNCTIONS
The following chart shows the operation timing.
30.0%
0
t
0
t
V
10000
[0, 0]
3000
[1] [0][0]
ON
OFF
OFF
ON
Torque
1000
0
Continuous operation to torque
control modePosition control mode Position control mode
0: Position control mode
30: Continuous operation to torque control mode
Control mode switching
request device
Control mode setting device
Control mode (Servo status1
(#8010+20n: b2, b3))
Start accept flag (M2001+n)
Torque command device
Speed command device
(During continuous operation
to torque control: Speed limit
command value)
Continuous operation to
torque control mode (Servo
status3(#8012+20n: b14))
Contact with target