Instruction manual
3.
SIGNALS AND WIRING
3.4.4
Position/speed control change mode
Set
0001
in
parameter
No.
0
to switch
to
the positiodspeed control change mode. Ths function
is
not
avadable
in
the absolute position detection
system.
(1)
Control change
(LOP)
Use control change
(LOP)
to
switch between the position control mode and the speed control mode from
an external contact. Relationshps between
LOP-SG
status and control modes are inhcated below:
(Note) LOP
Speed control mode
1
Position
control
mode
0
Servo Control Mode
Note.
0:
LOP-SG
off
(open)
1:
LOP-SG
on
(short)
The control mode may be changed
in
the zero-speed status.
To
ensure safety, change control after the
servo motor has stopped. When position control mode
is
changed
to
speed control mode, droop pulses
are reset.
If
the
signal
has been switched on-off at the speed hgher than the zero speed and the speed is then
reduced
to
the zero speed
or
less, the control mode cannot be changed.
A
change timing chart is shown
below:
Position
SPd
Position
control mode
,
control
mode
,
control mode
ON
OFF
Zero
speed
(ZSP)
ON
OFF
Control change (LOP) (Note)
I
(Note)
I
,_.-
I_._
Note: When ZSP is not on, control cannot
be
changed if LOP is switched on-off.
If ZSP switches on after that, control cannot not
be
changed.
(2) Torque limit in position control mode
As
in
Section 3.4.1
(2).
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