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Chapter 12 Expansion Control
12.1.3 Setting the required data for speed-torque control
Required control data setting for the control mode switching
The control data shown below must be set to execute the control mode switching.
Setting item
Setting
value
Setting details
Buffer memory address
QD77MS2
QD77MS4
QD77MS16
[Cd.138]
Control mode
switching request
1
Set "1: Switching request" after setting
"[Cd.139] Control mode setting".
1574+100n 4374+100n
[Cd.139] Control mode setting
Set the control mode to switch.
0: Position control mode
10: Speed control mode
20: Torque control mode
30: Continuous operation to torque
control mode
1575+100n 4375+100n
n: Axis No.-1
: Refer to Section 5.7 "List of control data" for the setting details.
When "30: Continuous operation to torque control mode" is set, set the switching
condition of the control mode to switch to the continuous operation to torque
control mode.
The control data shown below must be set to set the switching condition of control
mode.
Setting item
Setting
value
Setting details
Buffer memory address
QD77MS2
QD77MS4
QD77MS16
[Cd.153]
Control mode auto-
shift selection
Set the switching condition when
switching to continuous operation to
torque control mode.
0: No switching condition
1: Current feed value pass
2: Real current value pass
1593+100n 4393+100n
[Cd.154]
Control mode auto-
shift parameter
Set the condition value when setting the
control mode switching condition.
1594+100n
1595+100n
4394+100n
4395+100n
n: Axis No.-1
: Refer to Section 5.7 "List of control data" for the setting details.
Required control data setting for the speed control mode
The control data shown below must be set to execute the speed control.
Setting item
Setting
value
Setting details
Buffer memory address
QD77MS2
QD77MS4
QD77MS16
[Cd.140]
Command speed at
speed control mode
Set the command speed at speed control
mode.
1576+100n
1577+100n
4376+100n
4377+100n
[Cd.141]
Acceleration time at
speed control mode
Set the acceleration time at speed control
mode.
1578+100n 4378+100n
[Cd.142]
Deceleration time at
speed control mode
Set the deceleration time at speed control
mode.
1579+100n 4379+100n
n: Axis No.-1
: Refer to Section 5.7 "List of control data" for the setting details.