Mitsubishi Electric MELSERVO-J4 MR-J4 A Series Instruction Manual page 81

3. SIGNALS AND WIRING
3.6.4 Position/speed control switching mode
Set " _ _ _ 1" in [Pr. PA01] to switch to the position/speed control switching mode. This function is not
available in the absolute position detection system.
(1) 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 a relation between LOP and control modes.
You can switch the control mode in the 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
will be reset.
If LOP is switched on/off at the speed higher than the zero speed, the control mode cannot be changed
regardless of the speed. The following shows a switching timing chart.
(2) Torque limit in position control mode
As in section 3.6.1 (5)
(Note)
LOP
0
1
Note. 0: Off
1: On
Servo motor speed
ZSP (Zero speed detection)
ZSP( )
LOP (Control switching)
LOP(
Note. When ZSP is not turned on, the control mode is not switched even if LOP is turned
on/off. After LOP is turned on/off, even if ZSP is turned on, the control mode is not
switched.
Control mode
Position control mode
Speed control mode
Position control mode Speed control mode Position control mode
Zero speed
level
ON
OFF
ON
(Note)
(Note)
) ( )
OFF
3 - 40
( )