Sanyo Denki Q1AA04003D, Instruction Manual

Page: 142 / 266

７．Adjustment・Functions
[Functions of Group 9]
[Control mode switch
over・Position command pulse inhibit/Zero velocity stop]
7−27
[Ｇｒｏｕｐ９]１０
Control mode switch over function [MS]
Position control mode Speed control mode Torque control mode
2 types of control mode can be switched and used. The control mode to be combined is selected by system parameter
and can be switched with control mode switch over function.
Control mode is selected from system parameter Page 08.
Page Name Setting range
08
Control
mode
6 ways
Setting Contents
03：̲Velo−Torq Velocity control ― torque control switching type
04：̲Posi−Torq Position control ― torque control switching type
05：̲Posi−Velo
Position control ― velocity control switching
type
After setting has been changed →The value becomes valid when control power is turned ON again.
Conditions enabling control mode switch over function are allocated. When MS signal is valid, control
mode is switched.
Parameter Group9 Page10
MS ： Control mode switch
over function
✍
When control mode switch over type is in use, there is a possibility that
“
auto-notch frequency tuning
”
,
“
auto-vibration
suppressing frequency tuning
”
, and
“
JOG operation
”
cannot be used. Switch the control mode to the base side (disable
MS) prior to using
“
auto-notch frequency tuning
”
,
“
auto-vibration suppressing frequency tuning
”
, and
“
JOG operation
”
.
[Ｇｒｏｕｐ９]１１
Position command pulse inhibit function・zero velocity stop function [INH/Z-STP]
Speed
control mode Position control mode
This can be used as position command pulse inhibit function (INHIBIT function）in the position control type,
and as zero velocity stop function in the velocity control type.
When the function is enabled while servo motor is operating, input command is inhibited and the servo motor
stops at servo motor excitation status. In the position control type, even if position command pulse is input,
the input pulse is not counted in the servo amplifier.
Conditions enabling position command pulse inhibit/zero velocity stop function are allocated. When signals
of INH/Z-STP are valid, this will function.
Parameter Group9 Page11
INH/Z-STP：Position command pulse inhibit/zero
velocity stop function