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Chapter 12 Expansion Control
The following chart shows the operation when "1: Current feed value pass" is set
in "[Cd.153] Control mode auto-shift selection".
t
0 10
30
33
Torque
30.0%
t
V
1000
Position control mode Continuous operation to torque control mode
10000
0 01
Continuous operation to torque control
( Servo status3: b14)
OFF
ON
0 1
0 adr
3000
2
Current feed value passes the address
"adr" set in "
auto-shift parameter".
Cd.154
Control mode
0
0
Cd.138
Control mode switching request
Cd.139
Control mode setting
Cd.147 Speed limit value at continuous
operation to torque control mode
Cd.150 Target torque at continuous
operation to torque control mode
Axis operation statusMd.26
Md.124 Control mode switching status
Md.125
Contact with
target
6 to 11
ms
: Depending on the control mode.
Cd.153
Control mode auto-shift selection
Cd.154
Control mode auto-shift parameter