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3.WIRING
(4) Position/speed control change mode
Set
1 in parameter No. 0 to switch to the position/speed control change mode. This func-
tion 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 speed con-
trol mode from an external contact. Relationships between LOP-SG status and control modes
are indicated in Table 3-7.
The control mode may be changed in the zero-speed status. Before changing control to the
other mode, make sure that the zero speed signal (ZSP) is on. To ensure safety, change
control after the servo motor has stopped. When position control is changed to speed con-
trol, droop pulses are reset. If the signal 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 in Fig. 3-13.
Servo motor speed
Zero speed (ZSP)
Control change (LOP)
Note: When ZSP is not on, control cannot be changed if LOP is switched
2) Torque limit in position control mode
As in 1), (1) in this section.
Table 3-7 Control Selection
Across LOP-SG
Open
Short
Position control mode
Speed control mode
Zero speed
level
ON
OFF
ON
(Note)
OFF
on-off. If ZSP switches on after that, control cannot not be changed.
Fig. 3-13 P/S Change Timing Chart
3– 27
Servo Control Mode
Position control mode
Speed control mode
Position control mode
(Note)
3
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