CHAPTER 4 PARAMETER
4-4
Basic Parameters
4
4.2.2 Description of Each Parameter
PA1_01 Control mode selection
No. Name Setting range
Default
value
Change
01
Control mode
selection
0: Position 1: Speed 2: Torque
3: Position speed 4: Position torque
5: Speed torque 6: Extension mode
7: Positioning operation
0 Power
Specify the desired control mode in the parameter with a value.
To switch during operation, change over the control mode selection of the CONT input signal.
For details, refer to the table below.
Control mode
Reference value of PA1_01
(control mode selection)
Control mode selection =
OFF
Control mode selection =
ON
0 Position control
1 Speed control
2 Torque control
3 Position control Speed control
4 Position control Torque control
5 Speed control Torque control
6 Extension mode
7 Positioning operation mode
(1) If PA1_01 (control mode selection) is between 0 and 5
Change over the control mode selection (sequence input signal) to change the control mode even
during operation.
Position control can be made only during pulse operation and homing.
For the transition of the control mode, see the figure below.
Speed control
Position control
Torque control
Analog speed command
operation
Manual operation
Multi-step speed operation
If the reference value is
between 3 and 5, you can
use CONT to switch even
during operation.
Control mode switch
（36）：ON/OFF
Pulse operation
Torque control operation
Control mode switch （36）：ON/OFF
Control mode switch
（36）：ON/OFF
Pulse operation, Homing
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