Omron OMNUC W Series User Manual page 290

Operation
H Control Mode Selected Using TVSEL (Control Mode Switching)
• The following table shows the relationship between TVSEL (Control mode switching) and the control
mode selected.
Control mode setting
Pn000.1 = 7 (between position
control and speed control)
Pn000.1 = 8 (between position
control and torque control)
Pn000.1 = 9 (between torque control
and speed control)
H Operation Examples
D Position and Speed Control Switching Example (Pn000.1 = 7)
Control mode
switching
TVSEL
Speed command
input
REF
Pulse commands
Positioning com-
pleted, INP1
(Speed compare,
VCMP)
Servomotor op-
eration
Note 1. There is a maximum delay of 2 ms in reading the input signal.
Note 2. When switching from speed control to position control, input the pulse command after TVSEL
(control mode switching) has turned OFF, INP1 (positioning completed output 1) signal has
turned ON, and 2 ms has elapsed. The pulses will be ignored until the positioning completed
(INP1) signal has turned ON.
Note 3. The shaded areas in the time chart for the positioning completed 1 (INP1) signal indicate the
places where the signal is turned ON as the VCMP (speed compare) signal. (The meaning of
the signal differs according to the control mode.)
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OFF
Position control
Position control
Torque control
Chapter 4
TVSEL
ON
Speed control
Torque control
Speed control
2 ms min.
2 ms min.