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

3. SIGNALS AND WIRING

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)
Control mode
LOP
0 Speed control mode
1 Torque control mode
Note. 0: Off
1: On
ON
LOP
(Control switching)
OFF
Servo motor speed
10V
TC
(Analog torque command)
0
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.
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Speed control Torque control
mode mode
Load torque
Forward rotation
in driving mode
Speed control
mode
(Note)