Fuji Electric ALPHA5 Smart, User Manual

Page: 154 / 636

CHAPTER 3 OPERATION
3-12
Operation
3
3.4.5 Mode Selection
The operation control mode can be changed with parameter settings shown below and control mode
switching signal.
Control mode (function No.36)
PA1_01:Control mode
selection
Control mode selection=OFF Control mode selection=ON
3 Position control Speed control
4 Position control Torque control
5 Speed control Torque control
The operation pattern with “5” specified in PA1_01 (speed control
⇔
torque control) is shown below.
The command is issued by the voltage input of VREF and TREF.
To forcibly push
against the mechanical system as shown in the figure above, torque limit
should be adopted with a pushing material or the like.
For the torque control, refer to Section 3.4.4.
No control mode switching condition is provided. It can be switched at any time.
When the control mode is “6” (extension mode), the control mode is activated when the zero speed
signal is turned on.
OFF ON
[RDY]
Zero speed
Control mode
selection
ON
Speed
OFF ON
Speed control Torque control
Forcible push against the
mechanical system