Mitsubishi Electric MELSERVO-JN Series - 3.6.6 Internal torque;position control change mode

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3. SIGNALS AND WIRING
3.6.6 Internal torque/position control change mode
Set parameter No. PA01 to "
5 " to switch to the internal torque/position control change mode.
(1) Control change (LOP)
By using the control change (LOP), the control mode can be switched between the internal torque control
and the position control modes from an external contact. Relationships between LOP and control modes
are indicated below.
(Note) LOP Servo control mode
0 Internal torque control mode
1 Position control mode
Note. 0: off
1: on
The control mode may be switched in the zero speed status.
To ensure safety, switch the control mode after the servo motor has stopped. When the control mode is
switched to the internal torque control mode from the position control mode, droop pulses are cleared.
Even if the speed is decreased to the zero speed or below after switching LOP, the control mode cannot be
switched. A change timing chart is shown below.
Zero speed (ZSP)
Control change (LOP)
OFF
ON
OFF
ON
Position
control mode
Position
control mode
Internal torque
control mode
Zero speed
level
Servo motor speed
Internal torque command
(parameter No. PC12)
(2) Speed limit in internal torque control mode
As in section 3.6.3 (3).
(3) Internal torque control setting in internal torque control mode
As in section 3.6.3 (1).
(4) Torque limit in internal torque control mode
As in section 3.6.3 (2).
(5) Torque limit in position control mode
As in section 3.6.1 (4).