Torque/Position Control Switch Mode (T/P) - Mitsubishi Electric MR-J5 Series User Manual

Torque/position control switch mode (T/P)

Set [Pr. PA01.0] to "5" (Torque/position control switching mode).
Switching between the torque control and position control is enabled at a zero speed status. Refer to the
following.
Page 51 Control mode switching by using LOP (Control switching)
Use LOP (Control switching) to switch between the torque control mode and the position control mode with an external
contact. When position control mode is switched to torque control mode, droop pulses are cleared.
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.
*1
LOP
0
1
*1 0: Off
1: On
Switching the control mode is enabled at a 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 are cleared.
After LOP is switched at a speed higher than the zero speed, the control mode cannot be switched even at a speed lower than
the zero speed.
The following shows a switching timing chart.
Servo motor speed
TC
(Analog torque command)
ZSP
(Zero speed detection)
LOP
(Control switching)
*1 When ZSP is turned off, the control mode cannot be switched even if LOP is turned on/off. After LOP is turned on/off, even if ZSP is
turned on, the control mode cannot be switched.
Speed limit, torque control, and torque limit in the torque control mode
The specifications are the same as those described in the section of the torque control mode.
Page 58 Speed limit
Page 57 Torque control
Page 58 Torque limit
Torque limit in position control mode
The specifications are the same as those described in the section of the position control mode.
Page 54 Torque limit
2 CONTROL MODE
64
2.2 Control mode [A]
Control mode
Torque control mode
Position control mode
Position control Torque control
mode mode
Zero speed
level
10 V
0 V
ON
OFF
ON
*1
OFF
Position control
mode
*1