5.2 Control Method Selection
5-13
5
Ba
s
ic Function
s
That Requir
e
S
etting befor
e Operation
5.2
Control Method Selection
You can use the SERVOPACK for speed control, position control, or torque control.
You set the control method in Pn000 = n.
X
(Control Method Selection).
Control Method Selection
Pn000 =
n.
X
Control Method
Outline
Reference
n.
0
(default set-
ting)
Speed control
The speed of the Servomotor is controlled with an
analog voltage speed reference. Use speed con-
trol in the following cases.
•
To control speed
•
For position control using encoder pulse outputs
from the SERVOPACK to form a position loop in
the host controller
n.
1
Position control
The position of the machine is controlled with a
pulse train position reference. The position is con-
trolled with the number of input pulses, and the
speed is controlled with the input pulse frequency.
Use position control when positioning is required.
n.
2
Torque control
The torque output by the Servomotor is controlled
with an analog voltage torque reference. Use
torque control to output the required torque for
operations such as pressing.
n.
3
Internal set speed
control
Three internal set speeds that are preset in the
SERVOPACK are used as references to perform
speed control. An analog reference is not neces-
sary for this control method.
n.
4
Switching between
internal set speed
control and speed
control with analog
references
These are switching methods that you can use to
change between two of the above four control
methods. You can select the combination that is
required for the application.
n.
5
Switching between
internal set speed
control and position
control
n.
6
Switching between
internal set speed
control and torque
control
n.
7
Switching between
position control and
speed control
n.
8
Switching between
position control and
torque control
n.
9
Switching between
torque control and
speed control
n.
A
Switching between
speed control with
analog references
and speed control
with zero clamping
You can use zero clamping for speed control.
n.
B
Switching between
normal position con-
trol and position con-
trol with reference
pulse inhibition
You can use reference pulse inhibition for position
control.