Omron R88M-W User Manual page 343

Operation
H Control Mode Selected Using TVSEL (Control Mode Switching)
• The following table shows the relationship between TVSEL (control mode switching) and the control
mode selected.
Control mode setting
Pn000.1 = 4 (between internally-set
speed control and speed control)
Pn000.1 = 5 (between internally-set
speed control and position control)
Pn000.1 = 6 (between internally-set
speed control and torque control)
Pn000.1 = 7 (between position
control and speed control)
Pn000.1 = 8 (between position
control and torque control)
Pn000.1 = 9 (between torque control
and speed control)
Note 1. When Pn50A.0 (input signal allocation mode) is set to the default setting (0) and Pn000.1 is
set between 4 and 6, the control mode switches without TVSEL (control mode switching) sig-
nal allocation or input.
Note 2. When Pn50A.0 is set to 1, with Pn000.1 set between 4 and 6, and the TVSEL signal is allo-
cated, the control mode switches according to the TVSEL signal.
Note 3. For details on internally-set speed control, refer to 4-5-4 Internally-set Speed Control.
H Operation Examples
D Position and Speed Control Switching Example (Pn000.1 = 7)
Control mode
switching
TVSEL
Speed command
input
REF
Pulse commands
Positioning com-
pleted, INP1
(Speed compare,
VCMP)
Servomotor op-
eration
g
Internally-set speed control
Internally-set speed control
Internally-set speed control
Position control
Position control
Torque control
TVSEL
OFF
Speed control
Position control
Torque control
Speed control
Torque control
Speed control
2 ms min.
Chapter 4
ON
2 ms min.
4-83