Mitsubishi Electric MELSEC-Q Series - Page 595

12 - 9
Chapter 12 Expansion Control
When the torque control mode is switched to the position control mode, the
command position immediately after the switching is the feed current value at
switching.
The following chart shows the operation timing for axis 1.
0 10 10
0 20 0
0 200 0300
0 3230 30 0
[0, 0]
OFF
ON
[0, 1] [0, 0]
t
30.0%
20.0%
500000
ON
OFF
Torque
Position control mode Torque control mode Position control mode
BUSY signal [X10]
Axis operation status
Md.26
Cd.146
Speed limit value at torque
control mode
Cd.143
Command torque at torque
control mode
Cd.138
Control mode switching
request
Cd.139
Control mode setting
Zero speed
( Servo status: b3)
Md.108
Control mode
( Servo status: b2, b3)
Md.108
0
[RJ010 mode]
*1: 6 t
o 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 *1