5-24
5-5 Switching Control
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
5
Basic Control Mode
Operation Example
Position and Speed Control Switching Example (Pn001 = 3)
There is a maximum delay of 10 ms in reading the input signal.
When switching from speed control to position control, turn OFF the control mode switching input
(TVSEL) and wait at least 10 ms after the positioning completion output (INP) turns ON before
inputting the pulse command. The pulses input before INP turns ON will be ignored.
The shaded areas for the positioning completion output (INP) in the time chart show that the signal
is turned ON as the motor rotation speed detection output (TGON). (The meaning of the signal
depends on the control mode.)
Position and Torque Control Switching Example (Pn001 = 4)
This time chart shows an example of torque thrust.
There is a maximum delay of 10 ms in reading the input signal.
When switching from torque control to position control, turn OFF the control mode switching input
(TVSEL) and wait at least 10 ms after the positioning completion output (INP) turns ON before
inputting the pulse command. The pulses input before INP turns ON will be ignored.
Control mode
switching input (TVSEL)
ON
OFF
Speed command input (REF)
Pulse command
ON
OFF
Positioning completion output (INP)
Motor rotation speed detection
output (TGON)
ON
OFF
Motor operation
+r/min
−r/min
+V
−V
10 ms or more
10 ms or more
Control mode
switching input (TVSEL)
ON
OFF
Torque command input (TREF)
Pulse command
ON
OFF
Positioning completion
output (INP)
ON
OFF
Motor operation
+r/min
−r/min
+V
−V
10 ms or more
10 ms or more
(Forward) (Reverse)
Crash
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