Mitsubishi Electric MELSERVO-J4 MR-J4 A Series - Page 85

3. SIGNALS AND WIRING
3 - 44
3.6.6 Torque/position control switching mode
Set " _ _ _ 5" in [Pr. PA01] to switch to the torque/position control switching mode.
(1) LOP (control switching)
Use LOP (Control switching) to switch between the torque control mode and the position control mode
with an external contact. The following shows a relation between LOP and control modes.
(Note)
LOP
Control mode
0 Torque control mode
1 Position control mode
Note. 0: Off
1: On
You can switch the control mode in the zero speed status. To ensure safety, switch modes after the
servo motor has stopped. When position control mode is switched to torque control mode, droop pulses
will be reset.
If LOP is switched on/off at the speed higher than the zero speed, the control mode cannot be changed
regardless of the speed. The following shows a switching timing chart.
㔖ㅦᐲ
࡟ࡌ࡞
࠻࡞ࠢ೙ᓮࡕ࡯࠼ ૏⟎೙ᓮࡕ࡯࠼૏⟎೙ᓮࡕ࡯࠼
ࠨ࡯ࡏࡕ࡯࠲
࿁ォㅦᐲ
TC(ࠕ࠽ࡠࠣ
࠻࡞ࠢᜰ઎)
ZSP(㔖ㅦᐲᬌ಴)
LOP(೙ᓮಾ឵߃)
0V
OFF
ON
OFF
ON
10V
(2) Speed limit in torque control mode
As in section 3.6.3 (3)
(3) Torque control in torque control mode
As in section 3.6.3 (1)
(4) Torque limit in torque control mode
As in section 3.6.3 (2)
(5) Torque limit in position control mode
As in section 3.6.1 (5)
Position control mode
Position control mode
Torque control mode
LOP (Control switching)
Servo motor speed
TC (Analog torque command)
ZSP (Zero speed detection)
Zero speed
level