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6.8.1. Position/speed mode switch
This mode switch is divided into 2 types: Pt/S and Pr/S. The sequence chart of mode switch is
presented in the figure below.
Control mode could not be switched if the motor is at a high speed rotation. It could be
performed once the zero speed detection output signal is ON. Yet it is recommended for users to switch
control mode when the motor is stopped completely.
6.8.2. Speed/torque hybrid mode
Set the PA01 as 1003h before this control mode switch is performed. Users could use the LOP
signal to switch speed mode and torque mode. Because pin function ST1 (ST2) and RS2 (RS1) are
defined mutually, the rotation direction of motor would reverse while changing between the speed and
torque modes. The sequence diagram of the speed / torque mode is presented below.
It is recommended that users switch the speed to torque mode after the motor is static.
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