Mitsubishi Electronics MR-MC210 ユーザーズマニュアル
9 - 28
9. INTERFACE MODE
9.5.8 Examples of switching control mode
The switch timing for every setting of position control mode, speed control mode, and torque control mode
when using interface mode is as follows.
(1) Position control mode speed control mode
when using interface mode is as follows.
(1) Position control mode speed control mode
Current feedback
position
position
Speed command
data
data
0
Zero speed (ZSP)
300.00r/min
Speed
0...30000...0
0
Control mode
command
command
0001h: Speed control
0000h: Position control
0000h: Position control
0001h: Speed control
0000h: Position control
0000h: Position control
Control mode
status
status
Position command
data
data
sscIfmSetControlMode function
sscIfmSetControlMode function
sscIfmSetControlMode
function
function
sscIfmSetControlMode
function
sscIfmRenewLatestBufferEx
function
function
sscIfmRenewLatestBufferEx function
POINT
• When switching to position control mode and the travel amount at follow up
exceeds 20000000, set position command data to the position command
buffer to ensure that the travel amount per cycle is 20000000 or less.
buffer to ensure that the travel amount per cycle is 20000000 or less.