Chapter 6 Control Modes of Operation
6.5.1 Speed / Position Control Mode Selection
PT-S Mode / PR-S Mode:
The command source of PT-S mode is from external input pulse. The command source of
PR-S mode is from internal parameters (P6-00 to P7-27). The speed command can be the
external analog voltage or internal parameters (P1-09 to P1-11). The speed and position
mode switching is controlled by the S-P signal. The selection will be more complicated
when the position of PR-S mode and speed command are both selected through DI signal.
The timing chart of speed / position control mode selection is shown as the figure below:
CTRG
S-P
POS0-2 NOT CARE
POS0-2 NOT CARE
POS0-2 VALID
SPD0-1 VALID
SPD0~1 NOT CARE SPD0-1 VALID
Speed control mode
Position control mode
Speed control mode
Fi
ure 1. : Speed / Position Control Mode Selection
In speed mode (when S-P is ON), speed command is selected by SPD0~1 and CTRG is
disabled at this time. When switching to the position mode (when S-P is OFF), the position
command is not determined (it needs to wait that CTRG is on the rising edge), so the
motor stop running. Once CTRG is on the rising edge, position command will be selected
according to POS0~5 and the motor will immediately move to the determined position.
After S-P is ON, it will immediately return to speed mode.
For the relationship between DI signal and selected command in each mode, please refer
to the introduction of single mode.
6-50 Revision January 2011
Call 1(800)985-6929 for Sales
Call 1(800)985-6929 for Sales
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