Mitsubishi Electric RD77MS2 - Page 205

7 EXPANSION CONTROL
7.1 Speed-torque Control
203
7
The following chart shows the operation timing for axis 1.
■RD77MS4 operation example
t
0 10 10
0 30 0
** 33 30 0
Torque
30.0%
[Cd.138] Control mode switching request
[Cd.139] Control mode setting
[Cd.150] Target torque at continuous
operation to torque control mode
[Md.26] Axis operation status
t
V
1000
Position control mode
Continuous operation
to torque control mode
Position control mode
[Cd.147] Speed limit value at continuous
operation to torque control mode
1000 00
ON
BUSY signal [X10]
0 01 1 0
[Md.124] Control mode switching status
[0, 0]
Control mode
([Md.108] Servo status1: b2, b3)
Continuous operation to torque control
([Md.125] Servo status3: b14)
OFF
OFF
ON
**
300 00
Contact with
target
**: Depending on the positioning method.
0
0
6 to 11 ms 6 to 11 ms