Internal Torque/Position Control Change Mode - Mitsubishi Electric MELSERVO-JN Series Instruction Manual

3. SIGNALS AND WIRING

3.6.6 Internal torque/position control change mode

Set parameter No. PA01 to "
(1) Control change (LOP)
By using the control change (LOP), the control mode can be switched between the internal torque control
and the position control modes from an external contact. Relationships between LOP and control modes
are indicated below.
(Note) LOP
0 Internal torque control mode
1
Note. 0: off
1: on
The control mode may be switched in the zero speed status.
To ensure safety, switch the control mode after the servo motor has stopped. When the control mode is
switched to the internal torque control mode from the position control mode, droop pulses are cleared.
Even if the speed is decreased to the zero speed or below after switching LOP, the control mode cannot be
switched. A change timing chart is shown below.
Servo motor speed
Internal torque command
(parameter No. PC12)
Zero speed (ZSP)
Control change (LOP)
(2) Speed limit in internal torque control mode
As in section 3.6.3 (3).
(3) Internal torque control setting in internal torque control mode
As in section 3.6.3 (1).
(4) Torque limit in internal torque control mode
As in section 3.6.3 (2).
(5) Torque limit in position control mode
As in section 3.6.1 (4).
5 " to switch to the internal torque/position control change mode.
Servo control mode
Position control mode
ON
OFF
ON
OFF
Internal torque
Position
control mode
control mode
Zero speed
level
3 - 33
Position
control mode