12 - 11
Chapter 12 Expansion Control
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.
0 10 10
10 20 10
0 200 0
31 3230 30 31
[1, 0]
ON
[0, 1] [1, 0]
t
20.0%
50000
t
V
30000
20000
0 3000020000
0
Torque
Speed control mode Torque control mode Speed control mode
BUSY signal [X10]
Control mode
( Servo status: b2, b3)
Md.108
Axis operation statusMd.26
Cd.140
Command speed at speed
control mode
Cd.138
Control mode switching
request
Cd.139
Control mode setting
Cd.146
Speed limit value at torque
control mode
Cd.143
Command torque at torque
control mode
0
0
[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*1
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