Mitsubishi Electric MELSEC-Q Series User Manual page 593

Cd.138 Control mode switching
request
Cd.139 Control mode setting
Cd.140 Command speed at speed
control mode
BUSY signal [X10]
Md.26 Axis operation status
Control mode
( Md.108 Servo status: b2, b3)
Zero speed
( Md.108 Servo status: b3)
[RJ010 mode]
*1: 6 to 11ms
[CiA402 mode]
*1: The switching time differs by the specification of the servo amplifier. When "ZSP disabled selection at control switching" of the servo parameter
"Function selection C-E (PC76)" is set to "0: Enabled" at MR-J4-GF use, the control mode switches after the motor speed becomes zero.
The following chart shows the operation timing for axis 1.
V
Position control mode
30000
20000
0
*1
0 1
0
0
ON
OFF
0 30
[0, 0]
ON
Speed control mode
0
10
20000 30000
31
[1, 0]
OFF
12 - 7
Chapter 12 Expansion Control
Position control mode
*1
1 0
0
0
30 0
[0, 0]
t