Position/Speed Control Change Mode - Mitsubishi Electric MELSERVO MR-J2S- A Instruction Manual

3. SIGNALS AND WIRING

3.4.4 Position/speed control change mode

Set "0001" in parameter No. 0 to switch to the position/speed control change mode. This function is not
available in the absolute position detection system.
(1) Control change (LOP)
Use control change (LOP) to switch between the position control mode and the speed control mode
from an external contact. Relationships between LOP and control modes are indicated below:
(Note) LOP
0 Position control mode
1 Speed control mode
Note. 0: off
1: on
The control mode may be changed in the zero-speed status. To ensure safety, change control after the
servo motor has stopped. When position control mode is changed to speed control mode, droop pulses are
reset.
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
below:
Servo motor speed
Zero speed (ZSP)
Control change (LOP)
(2) Torque limit in position control mode
As in Section 3.4.1 (5).
Servo control mode
Position
control mode
Zero speed
level
ON
OFF
ON
(Note)
OFF
Note: When ZSP is not on, control cannot be changed if LOP is switched on-off.
If ZSP switches on after that, control cannot not be changed.
Speed Position
control mode control mode
(Note)
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