Torque/Position Control Switching Mode - Mitsubishi MR-J4-10A Instruction Manual

3. SIGNALS AND WIRING

3.6.6 Torque/position control switching mode

Set " _ _ _ 5" in [Pr. PA01] to switch to the torque/position control switching mode.
(1) LOP (control switching)
Use LOP (Control switching) to switch between the torque control mode and the position control mode
with an external contact. The following shows a relation between LOP and control modes.
You can switch the control mode in the zero speed status. To ensure safety, switch modes after the
servo motor has stopped. When position control mode is switched to torque control mode, droop pulses
will be reset.
If LOP is switched on/off at the speed higher than the zero speed, the control mode cannot be changed
regardless of the speed. The following shows a switching timing chart.
(2) Speed limit in torque control mode
As in section 3.6.3 (3)
(3) Torque control in torque control mode
As in section 3.6.3 (1)
(4) Torque limit in torque control mode
As in section 3.6.3 (2)
(5) Torque limit in position control mode
As in section 3.6.1 (5)
(Note)
Control mode
LOP
0 Torque control mode
1 Position control mode
Note. 0: Off
1: On
Zero speed
Servo motor speed
level
10V
TC
(Analog torque command)
0V
ON
ZSP
(Zero speed detection)
OFF
ON
LOP
(Control switching)
OFF
Note. When ZSP is not turned on, the control mode is not switched even if LOP is turned
on/off. After LOP is turned on/off, even if ZSP is turned on, the control mode is not
switched.
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Position control Torque control
mode mode
Position control
mode