Omron CS1W-MCH71 Operation Manual page 28

Torque to Position Control Switching
Previous versions
Switching from torque control to position
control using the TORQUR command is
executed when the axis feedback speed
reaches 0.
Speed to Position Control Switching
Previous versions
Switching from speed control to position
control using the SPEEDR command is
executed when the axis feedback speed
reaches 0.
Current version (Unit Ver. 2.0 or later)
• Switching from torque control to position
control using the TORQUR command is
executed by switching to position control
when the axis feedback speed reaches
the speed specified in a parameter
(specified by a percentage of the rated
speed).
• The following newly added parameter
uses part of the axis parameter area
that was previously reserved.
Number Name
P3AA09 Position control switching
speed
Setting range: 0 to 32,767
(0.01%)
Current version (Unit Ver. 2.0 or later)
• Switching from speed control to position
control using the SPEEDR command is
executed when the axis feedback speed
reaches the speed specified in a param-
eter (specified by a percentage of the
rated speed).
• The following newly added parameter
uses part of the axis parameter area
that was previously reserved.
Number Name
P3AA09 Position control switching
speed
Setting range: 0 to 32,767
(0.01%)
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