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Use the following parameters to set the mode switch to be used.
Memory
Switch
Cn-01
Bit D
Bit C
0
0
Uses torque reference as a detection point.
0
1
Uses speed reference as a detection point.
1
0
Uses acceleration reference as a detection point.
For speed/
torque con-
trol
1
1
For position
control
The mode switch is used to reduce settling time and suppress undershoot when the motor
stops. It switches PI control to P control when certain conditions are met.
TRQMSW
Cn-0C
REFMSW
Cn-0D
ACCMSW
Cn-0E
ERPMSW
Cn-0F
The mode switch is used to reduce settling time and
suppress undershoot when the motor stops. It
switches PI control to P control when certain condi-
tions are met.
The Servopack allows use of four different types of mode switch. To select a mode switch, set
bits B, C and D of memory switch Cn-01.
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Mode Switch Type
Does not use mode switch.
Uses error pulse as a detection point.
Mode Switch
Unit: %
Setting
(Torque
Range: 0
Reference)
to
Maximum
Torque
Mode Switch
Unit:
Setting
−1
(Speed
min
Range: 0
Reference)
to
Maximum
Speed
Mode Switch
Unit: 10
Setting
−1
(Acceleration
(min
)/s
Range: 0
Reference)
to 3000
Mode Switch
Unit:
Setting
(Error Pulse)
Refer-
Range: 0
ence
to 10000
Unit
— 2-57 —
2.6Minimizing Positioning Time
Parameter for
Setting Detec-
tion Point
tion Point
Cn-0C
Cn-0D
Cn-0E
Cn-0F
Factory
For
Setting:
Speed/Torque
200
Control and
Position
Control
Factory
For
Setting: 0
Speed/Torque
Control and
Position
Control
Factory
For
Setting: 0
Speed/Torque
Control and
Position
Control
Factory
For Position
Setting:
Control
10000
Actual motor
Reference
operation
Speed
Time
Settling time
2
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