12 - 13
Chapter 12 Expansion Control
When the mode is switched from torque control mode to speed control mode, the
command speed immediately after switching is the motor speed at switching.
The following chart shows the operation timing for axis 1.
[QD77MS4 operation example]
0 10 10
10 20 10
0 200 0
31 3230 30 31
[1, 0]
ON
[0, 1] [1, 0]
t
20.0%
50000
V
30000
20000
0 3000020000
0
Torque
Speed control mode Torque control mode Speed control mode
6 to 11ms 6 to 11ms
BUSY signal [XC]
Control mode
( Servo status 877: b2, b3)Md.108
Axis operation status
Md.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
(Note): Refer to Section 3.3 for input/output signal of QD77MS16 and Chapter 5 for buffer memory address.
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