Mitsubishi Electric MELSERVO-JN Series - 3.6.5 Internal speed;internal torque control change mode

3 - 32
3. SIGNALS AND WIRING
3.6.5 Internal speed/internal torque control change mode
Set No. PA01 to "
3 " to switch to the internal speed/internal torque control change mode.
(1) Control change (LOP)
By using the control change (LOP), the control mode can be switched between the internal speed control
and the internal torque control mode from an external contact. Relationships between LOP and control
modes are indicated below.
(Note) LOP Servo control mode
0 Internal speed control mode
1 Internal torque control mode
Note. 0: off
1: on
The control mode may be changed at any time. A change timing chart is shown below.
Internal speed
control mode
(Note)
Internal torque command
(parameter No. PC12)
Servo motor speed
Control change (LOP)
ON
OFF
Internal speed
control mode
Internal torque
control mode
Note. When the start (ST1, ST2) is switched off as soon as the mode is changed to internal speed control,
the servo motor comes to a stop according to the deceleration time constant.
(2) Speed setting in internal speed control mode
As in section 3.6.2 (1).
(3) Torque limit in internal speed control mode
As in section 3.6.1 (4).
(4) Speed limit in internal torque control mode
As in section 3.6.3 (3).
(5) Internal torque control setting in internal torque control mode
As in section 3.6.3 (1).
(6) Torque limit in internal torque control mode
As in section 3.6.3 (2).