Position/Speed Control Switching Mode - Mitsubishi MR-JE-10A Instruction Manual

3. SIGNALS AND WIRING

3.6.4 Position/speed control switching mode

Set " _ _ _ 1" in [Pr. PA01] to switch to the position/speed control switching mode.
(1) LOP (control switching)
Use LOP (Control switching) to switch between the position control mode and the speed 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 speed 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) Torque limit in position control mode
As in section 3.6.1 (5)
(Note)
Control mode
LOP
0 Position control mode
1 Speed control mode
Note. 0: Off
1: On
Position control
Zero speed
level
Servo motor speed
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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Speed control
mode mode
(Note) (Note)
Position control
mode