Speed/Torque Control Switching Mode - Mitsubishi Electric MELSERVO-J4 MR-J4 A Series Instruction Manual

3. SIGNALS AND WIRING
(c) SA (Speed reached)
As in section 3.6.2 (2)

3.6.5 Speed/torque control switching mode

Set " _ _ _ 3" in [Pr. PA01] to switch to the speed/torque control switching mode.
(1) LOP (control switching)
Use LOP (Control switching) to switch between the speed control mode and the torque control mode
with an external contact. The following shows a relation between LOP and control modes.
The control mode may be switched at any time. The following shows a switching timing chart.
(2) Speed setting in speed control mode
As in section 3.6.2 (1)
(3) Torque limit in speed control mode
As in section 3.6.1 (5)
(4) Speed limit in torque control mode
(a) Speed limit value and speed
The speed is limited to the limit value of the parameter or the value set in the applied voltage of VLA
(Analog speed limit).
A relation between the VLA (Analog speed limit) applied voltage and the limit value is as in section
3.6.3 (3) (a).
(Note)
LOP
0
1
Note. 0: Off
1: On
LOP (Control switching)
LOP(
Servo motor speed
TC (Analog torque command)
TC(
)
Note. When ST1 (Forward rotation start) and ST2 (Reverse rotation start) are switched off
as soon as a mode is switched to the speed control, the servo motor comes to a stop
according to the deceleration time constant. A shock may occur at switching control
modes.
Control mode
Speed control mode
Torque control mode
Speed control mode Torque control mode
ON
)
OFF
Load torque
10V
0
3 - 42
Speed control mode
(Note)
( )
Forward rotation in driving mode