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6. APPLICATION FUNCTIONS
POINT
• It takes approximately 6 to 11ms for the servo amplifier to switch modes after
reaching the continuous operation to torque control switching position and
press time has passed.
• The rough match (CPO) turns ON based on the distance remaining to the
position data of the point table.
• Positioning complete (PF), during smoothing of stopping (SMZ), turn ON at
completion of operation.
• The current command position is matched with the current feedback position
at the timing of switch to continuous operation to torque control.
• When operation is completed without reaching the continuous operation to
torque control switching position, a continuous operation to torque control
error (operation alarm 5D, detail No.02) occurs.
API LIBRARY
• Use the sscAutoStart function for operation startup.
• Refer to the sample program "InterruptPressDrive" contained in the utility
software for a more specific procedure on continuous operation to torque
control.
Operate by automatic switch by setting chg_ctrl_mode_condition to
CHG_CTRL_MODE_AUTO.