11. SPECIAL SERVO FUNCTION
11－3
11.2 Control Mode Switch
"PY2" Servo Amplifier has “Control Mode Switch” function that can switch control mode to the most suitable
one according to application requirements during operation.
11.2.1 Parameter Setting
(1) Control Mode (TYPE: Mode 4, Page 3)
Remarks
TYPE Setting Control Type
During switch signal OFF During switch signal ON
Torque Torque control − −
Velocity Velocity control − −
Position Position control − −
Velo ←→ Torq
Velocity ←→
Torque switch
Velocity control Torque control
Posi ←→ Torq
Position ←→
Torque switch
Position control Torque control
Posi ←→ Velo
Position ←→
Velocity switch
Position control Velocity control
Control mode (TYPE: Mode4 page3) is system parameter and set bit7 of Func6 to “1” before changes.
It becomes effective after turning ON the control power again.
(2) Selecting control mode switch input signal
Setting Procedure
Func3 Bit7 = “0” Input control mode switch signal by CN1-36 pin
Func3 Bit7 = “1” Input control mode switch signal by CN1-35 pin
11.2.2 Control Mode Switch Procedure
When specified signal changes at bit7 of Func3, control mode will be switched within 12msec.
Then the contents of general use input signal (the contents set at bit3, 2, 1, 0 of Func3) will be also
changed according to the control mode.
(1) Switching of Position control→Torque control, and Velocity control→Torque control
In Torque control when enabling control mode switch, the speed will be limited by high speed set value
(HTG: page6 of Mode1) to prevent the motor from rotating out of order (torque command will be “0” by
force when motor speed exceeds the high speed set value (HTG), it automatically recovers when the
speed becomes below the high speed set value.)
The velocity control is set as error detection level when sudden load change (to no load/ small load) in
torque control. However, it cannot control at fixed speed. There is a case that motor rotates over
set value in the status that the set HTG is low and inputted torque command is large in comparing with
load inertia and load torque. Do not allow this status to continue in use. Set HTG to 32767min
-1
unless executing speed velocity control.
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