Omron R88D-KTA5L User Manual page 359

Operation Example
Position and Speed Control Switching Example (Pn001 = 3)
Control mode
switching input (TVSEL)
Speed command input (REF)
Pulse command
Positioning completion output (INP)
Motor rotation speed detection
output (TGON)
+r/min
Motor operation
−r/min
 There is a maximum delay of 10 ms in reading the input signal.
 When switching from speed control to position control, turn OFF the control mode switching input
(TVSEL) and wait at least 10 ms after the positioning completion output (INP) turns ON before
inputting the pulse command. The pulses input before INP turns ON will be ignored.
 The shaded areas for the positioning completion output (INP) in the time chart show that the signal
is turned ON as the motor rotation speed detection output (TGON). (The meaning of the signal
depends on the control mode.)
Position and Torque Control Switching Example (Pn001 = 4)
Control mode
switching input (TVSEL)
Torque command input (TREF)
Pulse command
Positioning completion
output (INP)
+r/min
Motor operation
−r/min
 This time chart shows an example of torque thrust.
 There is a maximum delay of 10 ms in reading the input signal.
 When switching from torque control to position control, turn OFF the control mode switching input
(TVSEL) and wait at least 10 ms after the positioning completion output (INP) turns ON before
inputting the pulse command. The pulses input before INP turns ON will be ignored.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
ON
OFF
+V
−V
ON
OFF
ON
OFF
ON
OFF
+V
−V
(Forward)
ON
OFF
ON
OFF
5-5 Switching Control
10 ms or more
10 ms or more
10 ms or more
(Reverse)
Crash
10 ms or more
5
5-24