9. SPECIFICATIONS
9－44
9.1.10 Switching of the Control Mode
This section explains how to switch the control mode between velocity and torque control, torque and
position control, and position and velocity control. This section also provides precautions on implementing
the switching.
9.1.10.1 Switching the Control Type
CN1 input signal is used for the switching. When switching the control type using the input to CN1 - 35
pins, set Func3 bit7 at "1". When CN1 - 36 pin input is used, Func3 bit7 is set at "0".
Each control mode switching pattern and its input signal equivalent are shown in the following table.
Switching pattern OFF ON
Velocity ↔ Torque Velocity Torque
Position ↔ Torque Position Torque
Position ↔ Velocity Position Velocity
9.1.10.2 Precautions
• Utmost care must be taken in the switching procedure.
• During the test mode (JOG or Tune) is on, switching of the control mode is not available.
• When the switching takes place from velocity or position control to torque control, the velocity will be
limited in accordance with the set value of speed limit on the parameter (Mode 1 Page 6).
(As the motor speed exceeds this set value, the torque command is forced to zero.)
The speed limit is provided for the purpose of error detection when a radical change develops under a
given load (to no load or light load status) to prevent motor runaway.
This function, however, is not capable of running the motor at a constant speed.
If a relatively small value is set as the speed limit, and if the torque command value is large relative to
the load inertia and load torque, the motor speed may exceed this set value. Do not keep using the
motor in this situation over a long time period. When you don't turn on the speed limit, the speed limit
value must be set at 32767 min
－
1
.
• Note that there is a maximum of 12 msec delay between changing the input signal and completion of
control mode switching.
• During the switching of control mode (input signal is ON), the test mode (JOG or Tune) is not available.
The screen will display the "Not Ready" message.
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