Sinee EA100-2R8-2A - Page 59

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At the moment , make sure the instruction of speed and position to ensure
servo drive running correctly. During the switching between two kinds of control mode,
pay attention to switching can be running at zero speed state, but for safety,
switching control
mode when servo motor stop.From position control mode to speed control mode,
retentionpulse will be cleared.
If switch signals under the condition of higher than zero velocity rotational state,
even then velocity fall below zero speed ,also can‘t switch control mode.
Note: Although mode switching signal switch ON/OFF when zero signal is invalid,
then zero signal is valid ,it can’t switch control mode .
P1-00=4 ： Torque-speed switching mode
Servo drive works in torque -speed switching mode , please set P1-00=4 and
external DI pin function code select MSEL functions.At this point , servo drive
can switch between torque control mode and speed control mode. Torque-speed
switching mode switch through external DI junction,whenever can switch
control mode,
Note: If instruction value of speed
instruction is 0 when switch speed control mode, the servo motor slowdown
in setting deceleration time to stop. If external DI signal unused MSELn
function, the drive can only run in torque control mode.
P1-00=5：Position-torque switching mode
Servo drive works in position-torque switching mode , please set P1-00=5 and
external DI pin function code select MSEL functions.At this point , servo drive
can switch between position control mode and torque control mode. It can
switch at zero speed state, but for safety, switching control mode when servo
motor stop. From position control mode to speed control mode, retentionpulse
will be cleared.
If switch signals under the condition of higher than zero velocity rotational
state, even then velocity fall below zero
speed ,also can‘t switch control mode.
NOTE: If external DI signal unused MSELn function, the drive can only run in
to position control mode.
P1-01
Position command source selection
Initial value
Unit
Communication
Address
0
-
2101H
Control mode：P
Range：0～1
Data size：16bit
Display mode：Decimal system
Parameter function：Select the source of the position command
P1-01=0：External pulse command (pt)
Position command is derived from the external input pulse number, the frequency of the external pulse determines the speed of the motor
running.
Please see the description of P1-02.
P1-01=1：Internal multiple command (pr)
Position command is derived from the internal multiple command set by the P2 group.
Please see the description of P1-03 and Section 7.3 .
P1-02
External pulse command input mode:
Initial value
Unit
Communication
Address
0
-
2102H
Control mode：P
Range：0～5
Data size：16bit
Display mode：Decimal system
Parameter function：The way of selecting an external pulse.
Table 7-1 pulse command logic
Parameters
Pulse form
Logic state
Direction of rotation
Forward
Reverse
P1-02=0
Pulse +
direction
Positive
logic
PULS
SIGN
P1-02=1
Pulse +
direction
Negative
logic
PULS
SIGN
Figure7-1 Speed-position switching mode
mode
Speed control
mode
Position control
mode
Speed control
mode
Speed of
servo drive
motor
Zero
speed
Zero speed
signal
Mode
switch(MSEL)
(Note)
(Note)
Speed control
mode
Torque control
mode
Speed control
mode
Servo motor
speed
Switch mode
(MSEL)
Load torque
Forward torque
Torque
instruction
（Note）
Position control
mode
Torque control
mode
Position control
mode
Servo motor
rotate speed
Switch mode
(MSEL)
Torque
instruction
Zero speed
value
Zero speed
signal
Figure7-2 Torque-speed switching mode
modeseswitching mode
Figure7-3Position-torque switching mode