Position/Internal Speed Control Change Mode - Mitsubishi Electric EZMOTION MR-E Super MR-E-10A-QW003 Instruction Manual

3. SIGNALS AND WIRING

3.4.3 Position/internal speed control change mode

Set "0001" in parameter No.0 to switch to the position/internal speed control change mode. This function is not
available in the absolute position detection system.
(1) Control change (LOP)
Use control change (LOP) to switch between the position control mode and the internal speed control mode
from an external contact. Relationships between LOP-VIN status and control modes are indicated below.
(Note) LOP
0
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Note. 0: LOP-VIN off (open)
1: LOP-VIN on (short)
The control mode may be changed in the zero-speed status. To ensure safety, change control after the servo
motor has stopped. When position control mode is changed to speed control mode, droop pulses are reset.
If the LOP has been switched on-off at the speed higher than the zero speed and the speed is then reduced to
the zero speed or less, the control mode cannot be changed. A change timing chart is shown below.
Servo motor speed
Zero speed (ZSP)
Control change (LOP)
Note. When Zero speed (ZSP) is not on, control cannot be changed if Control change (LOP) is switched on-off.
(2) Torque limit in position control mode
As in section 3.4.1 (5).
Servo control mode
Position control mode
Speed control mode
Position
control mode
Zero speed
level
ON
OFF
ON
(Note)
OFF
If Zero speed (ZSP) switches on after that, control cannot not be changed.
Internal speed Position
control mode control mode
(Note)
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