Mitsubishi MELSEC-Q QD77MS, User Manual

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Chapter 5 Data Used for Positioning Control
Setting item Setting details
Cd.152
Torque time constant at
continuous operation to
torque control mode
(Negative direction)
•
Set the time constant at regeneration during continuous operation to torque
control mode.
(Set the time for the torque to decrease from "
Pr.17
Torque limit setting value
" to
"0".)
0 to 65535 (ms)
Fetch cycle: At control mode switching
Cd.153
Control mode auto-shift
selection
•
Set the switching condition when switching to continuous operation to torque
control mode.
0: No switching condition...... Switching is executed at switching request to
continuous operation to torque control mode.
1: Current feed value pass.... Switching is executed when "
Md.20
Current feed
value
" passes the address set in "
Cd.154
Control
mode auto-shift parameter
" after switching request to
continuous operation to torque control mode.
2: Real current value pass.... Switching is executed when "
Md.101
Real current
value
" passes the address set in "
Cd.154
Control
mode auto-shift parameter
" after switching request to
continuous operation to torque control mode.
Fetch cycle: At control mode switching
•
Set the condition value when setting the control mode switching condition.
•
The setting value differs depending on the value set in "
Cd.153
Control mode auto-
shift selection
".
When "1" or "2" is set in "
Cd.153
Control mode auto-shift selection
": Set the switching
address.
•
Set a value within the following range:
Pr.1
Unit setting
mm
(
×
10
-1
mm)
inch
(
×
10
-5
inch)
degree
(
×
10
-5
degree)
PLS
(PLS)
Setting range
-2147483648 to
2147483647
-2147483648 to
2147483647
0 to 35999999
-2147483648 to
2147483647
Cd.154
Control mode auto-shift
parameter
Fetch cycle: At control mode switching