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Chapter 12 Expansion Control
The following chart shows the operation timing for axis 1.
[QD77MS4 operation example]
t
0 10 10
0 30 0
33 30 0
6 to 11
ms
Torque
30.0%
t
V
1000
Position control mode Continuous operation to torque control mode Position control mode
1000 00
ON
0 01 1 0
[0, 0]
Control mode
( Servo status: b2, b3)
Continuous operation to torque control
( Servo status3: b14)
OFF
OFF
ON
300 00
: Dependin
g
on the positionin
g
method.
0
0
Cd.138
Control mode switching
request
Cd.139
Control mode setting
Axis operation status
Md.26
BUSY signal [XC]
Md.124
Control mode switching status
Md.125
Md.108
Cd.147
Speed limit value at continuous
operation to torque control mode
Cd.150
Target torque at continuous
operation to torque control mode
Contact with
target
6 to 11
ms
(Note): Refer to Section 3.3 for input/output signal of QD77MS16 and Chapter 5 for buffer memory address.