Chapter 11. How to Use Speed/Torque Servo
11-4
11.4 How to Use Speed/Torque Servo
To start speed/torque servo, set the servo controller type to “4”.
11.4.1 Switching of control modes
Type ON OFF
ON Speed control Torque control
(Caution!) Switch speed servo1 position servo only when motor is stopped.
11.4.2 How to use by control mode
Refer to sections 7 and 8 for detailed directions by control mode.
Speed command for speed operation can be input freely by using 3 methods:
① Using 3 digital speed commands ([Speed CMD1 (P3-01)] - [Speed CMD3 (P3-03)]
② Using external analog speed command
③ Based on override operation by combining methods of items ① and ②
The internal speed command selection effected based on these 3 methods is decided as
follows based on CN1 speed selection ((SPD1), (SPD2)) contact and the [Override ON/OFF
(P3-18)] set values.
7[P3-18]
Speed
selection 2
Speed
selection 1
Speed command
0 OFF OFF Analog command sped
0 OFF ON [Speed CMD1 (P3-01)] speed
0 ON OFF [Speed CMD2 (P3-02)] speed
0 ON ON [Speed CMD3 (P3-03)] speed
1 OFF OFF Analog command speed
1 OFF ON
[Speed CMD1 (P3-01)] set speed + analog
command speed
1 ON OFF
[Speed CMD2 (P3-02)] set speed + analog
command speed
1 ON ON
[Speed CMD3 (P3-03)] set speed + analog
command speed
Where ON: Applicable contact is connected to "GND24".
OFF: Applicable contact is connected to "+24V", or applicable contact not connected.
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