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Chapter III Control & Operation
3.1
Control mode selection
EPS-EB series servo drive control modes
Parameter setting
Control modes
PA04=0
PA110=0
External position control & internal speed control (JOG) switch:
External position control
: use position command pulse train to control servo motor
positions. Position is set by the number of pulses; speed is set by the frequency of pulses.
This is used in applications where positioning are needed.
Internal speed control
: use JOG1 and JOG2 to realize motor JOG forward & backward
movements. (Motor speed is set by PA131)
PA110=2
Internal position control & internal speed control (JOG) switch:
Internal speed control: used without upper controllers. Use PTRG to activate internal
position control. Position is set by PA83, PA84 and so on.
PA110=3
External position control & external speed control switch:
Use
C_MODE to switch between position command pulse train inputs and external
analog speed command inputs.
PA110=4
External position control & internal torque control switch:
Use
C_MODE to switch between position command pulse train inputs and external
analog torque command inputs.
Internal torque control
: keep constant motor torque output. Torque output is set by
PA128; speed limit is set by PA45; TRQ_INV is torque command negation signal.
PA04=1
PA110=0
External speed control:
Use analog voltage input to control speed of servo motor.
Used in the following applications:
1)
speed control;
2)
Create a position loop between servo drive encoder pulse output & upper controller;
3)
Use SPD1 & SPD2 to realize real time switch between analog signal & internal
THREE-level speed.
PA110=1
Torque control & speed control switch:
Use C_MODE to realize torque control & speed control switch. This is used in
applications when push & press or stretch is needed.
Torque control: use TRQ1 & TRQ2 to choose torque control mode (Analog voltage
command, PA128, PA129 or PA130).
Speed control: use SPD1 & SPD2 to choose speed control mode (Analog voltage
command, PA131, PA132 or PA133).
