Control Mode [A]; Control Switching; Position Control Mode (P) - Mitsubishi Electric MELSERVO-J5 User Manual

2.3

Control mode [A]

The method for driving a servo motor varies depending on each control mode. The characteristics of each control mode are
shown in the following.
Category
Pulse/analog/DI command

Control switching

The control mode can be switched with LOP (Control switching).
Control mode switching by using LOP (Control switching)
LOP (Control switching) enables two control modes to be mutually switched. When switching the position control mode to a
different mode, or when switching any control mode to the position control mode, perform switching at a zero speed state.
■Switching the position control and speed control
Page 101 Position/speed control switching mode (P/S)
■Switching the speed control and torque control
Page 103 Speed/torque control switching mode (S/T)
■Switching the torque control and position control
Page 105 Torque/position control switch mode (T/P)

Position control mode (P)

The speed can be controlled with the pulses that are input to the servo amplifier. [Pr. PA01.0 Control mode selection] can be
operated when set to the initial value "0" (Position control mode).
Set the logic of the positioning module and the command pulse of the servo amplifier as follows.
• Q series/L series/R series positioning module
Signal type
Open-collector type
Differential line driver type
*1 For Q, L, and R series, the logic means the N-side waveform. Therefore, reverse the input pulse logic of the servo amplifier.
• F series positioning module
Signal type
Open-collector type
Differential line driver type
2 CONTROL MODE
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2.3 Control mode [A]
Control mode
Position control mode
Speed control mode
Torque control mode
Position/speed control switching
mode
Speed/torque control switching
mode
Torque/position control switching
mode
Command pulse logic setting
Setting of Pr. 23 in Q series/L series/R
series positioning module
Positive logic
Negative logic
*1
Positive logic
*1
Negative logic
Command pulse logic setting
F series positioning module (fixed)
Negative logic
Symbol Description
P This is a control mode which operates the servo motor with the input of the
pulse train.
S This is a control mode which operates the servo motor with the internal
speed or with the analog speed command.
T This is a control mode which operates the servo motor with the analog
torque command.
P/S This is a control mode which performs switching between the position
control and speed control with the input device.
S/T This is a control mode which performs switching between the speed
control and torque control with the input device.
T/P This is a control mode which performs switching between the torque
control and position control with the input device.
The setting value in [Pr. PA13.1 Pulse train logic
selection]
Positive logic (0)
Negative logic (1)
Negative logic (1)
Positive logic (0)
The setting value in [Pr. PA13.1 Pulse train logic
selection]
Negative logic (1)