Sinee EA180 Series Manual

EA180 Servo Drive Manual
44
P0-00=5：Position -torque switching mode (zero speed)
The drive operates in the position torque switching
mode and switches only at zero speed.
Mode switching via DI terminals defined as MSEL
functions.
When the motor is at zero speed, by switching the state
of the MSEL terminal, the drive can switch between the two
control modes of position and torque.
 When switching from position control mode to torque
control mode, the holding pulse will be cleared.
 Zero speed is set by P0-03.
 If zero speed condition is not met, even if MSEL signal
ON/OFF switching,is changed for the mode, control
mode switch cannot be carried out even if zero speed
condition is met later on.
 When MSEL terminal is not valid, work in position
control mode.
Position
mode
Torque mode
Position
mode
Servo motor
speed
Mode
switching
(MSEL)
Torque
command
Zero speed
void
active
void
P0-00=6：Speed - position switch mode (immediately)
The drive works in speed position switching mode,
switching at any time.
Mode switching via DI terminals defined as MSEL
functions.
Regardless of whether the motor is rotated, by switching
the MSEL terminal state, the drive will immediately switch
between two control modes of speed and position.
 Switched from a position control mode to speed control
mode, the stranded pulse will be cleared.
 When MSEL terminal is not valid, it works in speed
control mode.
Speed mode
Position
mode
Speed mode
Servo
motor
speed
Mode
switching
(MSEL)
0
void
active
void
Note☞
In this mode, either with mechanical shock or drive alarm may occur in the process of switching.
P0-00=7：Torque - Speed mode switching (immediately)
The drive operates at the torque speed switching mode,
switching at any time.
Mode switching via DI terminals defined as MSEL
functions.
Regardless of whether the motor is rotating, the drive
will switch between the two control modes, torque and
speed, by switching the status of the MSEL terminal.
 When the MSEL terminal is not valid, work in the
torque control mode.
Speed mode Torque mode Speed mode
Servo motor
speed
Mode
switching
(MSEL)
Load torque
forward
torque
Torque
command
（note）
void
voidactive
Note☞
If the speed command value is 0 when switching to the speed control mode, the servo motor slows down at the time of
P2-05.
P0-00=8：position - torque switching mode (immediately)

Sinee EA180 Series Specifications

General

Brand	Sinee
Model	EA180 Series
Category	Servo Drives
Language	English