Mitsubishi Electric RD77MS2 - Page 117

3 MAJOR POSITIONING CONTROL
3.2 Setting the Positioning Data
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3
Current feed value
The following table shows the "[Md.20] Current feed value" during speed-position switching control (INC mode) corresponding
to the "[Pr.21] Current feed value during speed control" settings.
Switching time from speed control to position control
It takes 1 ms from the time the speed-position switching signal is turned ON to the time the speed-position switching latch flag
([Md.31] Status: b1) turns ON.
"[Pr.21] Current feed value during speed control" setting [Md.20] Current feed value
0: Do not update current feed value The current feed value at control start is maintained during speed control, and
updated from the switching to position control.
1: Update current feed value The current feed value is updated during speed control and position control.
2: Zero clear current feed value The current feed value is cleared (set to "0") at control start, and updated from
the switching to position control.
Updated from 0
(c) Current feed value zero cleared
0
(b) Current feed value updated
Updated
(a) Current feed value not updated
t
Updated
Maintained
V
Position
control
t
V
Position
control
t
V
Speed
control
Speed
control
Speed
control
Position
control
Current
feed value
Current
feed value
Current
feed value
Speed-position
switching signal
Speed-position
switching latch flag
OFF
ON
OFF
ON
1 ms