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3. SIGNALS AND WIRING
3.4.3 Position/internal speed control change mode
Set "0001" in parameter No.0 to switch to the position/internal speed control change mode. This function 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 internal speed control mode
from an external contact. Relationships between LOP-VIN status and control modes are indicated below.
(Note) LOP Servo control mode
0 Position control mode
1 Speed control mode
Note. 0: LOP-VIN off (open)
1: LOP-VIN on (short)
The control mode may be changed in the zero-speed status. To ensure safety, change control after the servo
motor has stopped. When position control mode is changed to speed control mode, droop pulses are reset.
If the LOP 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 below.
ON
OFF
ON
OFF
Position
control mode
Internal speed
control mode
Servo motor speed
Zero speed (ZSP)
Control change (LOP)
Zero speed
level
(Note)
Note. When Zero speed (ZSP) is not on, control cannot be changed if Control change (LOP) is switched on-off.
If Zero speed (ZSP) switches on after that, control cannot not be changed.
(Note)
Position
control mode
(2) Torque limit in position control mode
As in section 3.4.1 (5).
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