Instruction manual
3.
SIGNALS AND WIRING
3.4.6 Torque/position control change mode
Set
0005
in
parameter
No.
0
to
switch
to
the torque/position control change mode.
(1)
Control change
(LOP)
Use control change
(LOP)
to
switch between the torque control mode and the position control mode
from an external contact. Relationships between
LOP-SG
status and control modes are indxated below:
h
Servo Control Mode
Torque control mode
Position 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
torque control mode, droop pulses are reset.
If
the
signal
has been switched on-off at the speed higher
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:
1
ov
Analog torque
command
VIA)
ov
ON
OFF
Zero
speed
(ZSP)
Control change
(Lop)
oN
-1
1-
OFF
(2)
Speed limit in torque control mode
As
in
Section
3.4.3
(3).
(3)
Torque control in toque control mode
As
in
Section
3.4.3
(1).
(4)
Torque limit in torque control mode
As
in
Section
3.4.3 (2).
(5)
Torque limit in position control mode
As
in
Section
3.4.1 (2).
3-
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