12 DATA USED FOR POSITIONING CONTROL
12.8 Control Data
533
12
[Cd.136] PI-PID switching request
• Set the PI-PID switching to servo amplifier.
Fetch cycle: Operation cycle
■Setting value
• Set with a decimal
• Buffer memory address
Refer to the following for the buffer memory address in this area.
Page 392 Control data
[Cd.138] Control mode switching request
• Request the control mode switching. Set "1" after setting "[Cd.139] Control mode setting".
• The Simple Motion module sets "0" at completion of control mode switching.
Fetch cycle: Operation cycle
■Setting value
• Set with a decimal.
• Buffer memory address
Refer to the following for the buffer memory address in this area.
Page 392 Control data
[Cd.139] Control mode setting
• Set the control mode to be changed in the speed-torque control.
Fetch cycle: At control mode switching
■Setting value
• Set with a decimal.
• Buffer memory address
Refer to the following for the buffer memory address in this area.
Page 392 Control data
PI-PID switching request
1 : PID control switching request
Other than 1: Not request
Setting
value
K
Setting
value
Control mode switching request
1 : Switching request
Other than 1: Not request
K
Setting
value
K
Control mode setting
0: Position control mode
10: Speed control mode
20: Torque control mode
30: Continuous operation to torque control mode
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