Omron OMNUC W Series User Manual page 94

Standard Models and Specifications
D Control Mode Switch (41: TVSEL)
This signal is enabled when Pn000.1 (function selection basic switch: control mode selection) is set to
any of the settings from 7 to 9. The control mode is changed as shown in the following table.
Control mode setting
Pn000.1 = 7
(Position control ↔ Speed control)
Pn000.1 = 8
(Position control ↔ Torque control)
Pn000.1 = 9
(Torque control ↔ Speed control)
Note 1. This is the default allocation. Input terminal allocations (CN1 pins 40 to 46) can be changed by
setting Pn50A.0 (input signal selection mode) to 1. The TVSEL signal is allocated by
Pn50C.3.
Note 2. With the default allocation, the function for pin 41 is changed to MING, PLOCK, TVSEL, RDIR,
or IPG according to the Pn000.1 (control mode selection) setting and the control mode in op-
eration. For details, refer to 4-4-3 Important Parameters.
D Position Lock Command Input (41: PLOCK)
If position control is executed without including a position loop, there may be some position deviation
due to temperature drift from a device such as the A/D converter. If a position lock command is input in
such a case, then, when the Servomotor rotation speed falls below the rotation speed set in Pn501
(position lock rotation speed), the speed control mode will be changed to position control mode and the
Servomotor will be position-locked and completely stopped.
Note 1. This is the default allocation. Input terminal allocations (CN1 pins 40 to 46) can be changed by
setting Pn50A.0 (input signal selection mode) to 1. The PLOCK signal is allocated by
Pn50d.0.
Note 2. With the default allocation, the function for pin 41 is changed to MING, PLOCK, TVSEL, RDIR,
or IPG according to the Pn000.1 (control mode selection) setting and the control mode in op-
eration. For details, refer to 4-4-3 Important Parameters.
D Pulse Disable Input (41: IPG)
Command pulse inputs are disabled. The motor will stop when this signal goes ON, and the position will
be locked.
Note 1. This is the default allocation. Input terminal allocations (CN1 pins 40 to 46) can be changed by
setting Pn50A.0 (input signal selection mode) to 1. The IPG signal is allocated by Pn50d.1.
Note 2. With the default allocation, the function for pin 41 is changed to MING, PLOCK, TVSEL, RDIR,
or IPG according to the Pn000.1 (control mode selection) setting and the control mode in op-
eration. For details, refer to 4-4-3 Important Parameters.
D Gain Change Input (Not Allocated: GSEL)
The GSEL signal changes the gain. When this signal is not input, the settings of Pn100 (speed loop
gain), Pn101 (speed loop integration constant), and Pn102 (position loop gain) are used for control.
When this signal is input, the settings of Pn104 (No. 2 speed loop gain), Pn105 (No. 2 speed loop in-
tegration constant), and Pn106 (No. 2 position loop gain) are used for control.
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g
OFF
Position control
Position control
Torque control
Chapter 2
TVSEL
ON
Speed control
Torque control
Speed control