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Normal timing time
t1
0.2 to 1.1ms
• The t1 timing time could be delayed by the operating status of other axes.
(5) Current feed value during speed-position switching control (ABS mode)
The following table shows the "[Md.20] Current feed value" during speed-position switching control (ABS mode)
corresponding to the "[Pr.21] Current feed value during speed control" settings.
"[Pr.21] Current feed value during speed control" setting
1: Update current feed value
Only "1: Update current feed value" is valid for the setting of "[Pr.21] Current feed value during speed control" in
speed-position switching control (ABS mode).
The error "Speed-position function selection error" (error code: 935) will occur if the "[Pr.21] Current feed value
during speed control" setting is other than 1.
(6) Switching time from speed control to position control
There is 1ms from the time the speed-position switching signal is turned ON to the time the speed-position
switching latch flag ([Md.31] Status: b1) turns ON.
438
t2
t3
0 to 0.9ms
0 to 0.9ms
Speed
Speed control
Current feed value updated
Speed-position switching signal
Speed-position switching latch flag
t4
t5
0.4 to 1.3ms
0 to 0.9ms
The current feed value is updated during speed control and position
control.
Position control
t
Updated
ON
OFF
ON
OFF
1ms
t6
1.0ms
Follows parameters
[Md.20] Current feed value
t7
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Troubleshooting
