12 - 7
Chapter 12 Expansion Control
The following chart shows the operation timing for axis 1.
Zero speed
( Servo status: b3)Md.108
0 10 10
0 10 0
0 20000 030000
0 3130
30
0
[0, 0]
OFF
ON
[1, 0] [0, 0]
t
V
Control mode
( Servo status: b2, b3)Md.108
ON
OFF
30000
20000
BUSY signal [X10]
Axis operation statusMd.26
Cd.140
Cd.139
Cd.138 Control mode switching
request
Control mode setting
Command speed at speed
control mode
Position control mode Speed control mode Position control mode
0
*1
[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.
*1
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