Position/Speed Control Switching Mode (P/S) - Mitsubishi Electric MELSERVO-J5 Series User Manual

Position/speed control switching mode (P/S)

Set [Pr. PA01.0] to "1" (Position/Speed control switching mode).
Switching between the position control and speed control is enabled at a zero speed status. Refer to the
following.
Page 69 Control mode switching by using LOP (Control switching)
Use LOP (Control switching) to switch between the position control mode and the speed control mode with an external
contact. This function is not available in the absolute position detection system.
LOP (Control switching)
Use LOP (Control switching) to switch between the position control mode and the speed control mode with an external
contact. The following shows the 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 speed 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
ZSP
(Zero speed detection)
LOP
(Control switching)
*1 When ZSP is not turned on, 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.
Torque limit in position control mode
The specifications are the same as those described in the section for the position control mode.
Page 71 Torque limit
2 CONTROL MODE
78
2.2 Control mode [A]
Control mode
Position control mode
Speed control mode
Position control Speed control
mode mode
Zero speed
level
ON
OFF
ON
*1
OFF
Position control
mode
*1