Mitsubishi Electric MELSEC Q Series Programming Manual page 476

7 AUXILIARY AND APPLIED FUNCTIONS
Control mode switching
request device
Control mode setting device
Speed command device
(During continuous operation
to torque control: Speed limit
command value)
Torque command device
Start accept flag (M2001+n)
Control mode (Servo status1
(#8010+20n: b2, b3))
Continuous operation to
torque control mode (Servo
status3(#8012+20n: b14))
The following chart shows the operation timing.
V
Position control mode
1000
0
Torque
30.0%
0
ON
OFF
0 30: Continuous operation to torque control mode
0
0
ON
[0]
Continuous operation to torque
control mode
Contact with target
1000
300
[0, 0]
[1]
7 - 31
Position control mode
t
t
0: Position control mode
OFF
[0]