Specifications

3
3.WIRING
3– 31
(6) Torque/position control change mode
Set 5 in parameter No. 0 to switch to the torque/position control change mode. This func-
tion is not available for the absolute position detection system.
1) Control change (LOP)
Use control change (LOP) to switch between the torque control mode and the position con-
trol mode from an external contact. Relationships between LOP-SG status and control modes
are indicated in Table 3-11.
2) Speed limit in torque control mode
As in 4), (5) in this section.
3) Torque control in torque control mode
As in 1), (3) in this section.
4) Torque limit in torque control mode
As in 2), (3) in this section.
5) Torque limit in position control mode
As in 1), (1) in this section.
The control mode may be changed in the zero-speed status. Before changing control to the
other mode, make sure that the zero speed signal (ZSP) is on. To ensure safety, droop pulses
are reset when the mode is changed after the servo motor has stopped. 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 in Fig. 3-17.
Fig. 3-17 T/P Change Timing Chart
Servo motor speed
Zero speed
level
ON
OFF
Zero speed (ZSP)
Control change (LOP)
ON
OFF
Analog torque
command (TLA)
10V
0V
Position control mode Torque control mode Position control mode
Servo Control ModeAcross LOP-SG
Open
Short
Table 3-11 Control Selection
Torque control mode
Position control mode