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Chapter 12 Expansion Control
When the torque control mode is switched to the position control mode, the
command position immediately after the switching is the current feed value at
switching.
The following chart shows the operation timing for axis 1.
[QD77MS4 operation example]
0 10 10
0 20 0
0 200 0300
0 3230 30 0
[0, 0]
OFF
ON
[0, 1] [0, 0]
t
30.0%
20.0%
500000
ON
OFF
Torque
Position control mode Torque control mode Position control mode
6 to 11ms 6 to 11ms
BUSY signal [XC]
Axis operation statusMd.26
Cd.146
Speed limit value at torque
control mode
Cd.143
Command torque at torque
control mode
Cd.138
Control mode switching
request
Cd.139
Control mode setting
Zero speed
( Servo status: b3)Md.108
Control mode
( Servo status: b2, b3)Md.108
0
(Note): Refer to Section 3.3 for input/output signal of QD77MS16 and Chapter 5 for buffer memory address.