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3. SIGNALS AND WIRING
3.4.4
Position/speed control change mode
Set 0001 in parameter No. 0 to switch to the position/speed control change mode. This function is not
available in the absolute position detection system.
(1) Control change (LOP)
Use control change (LOP) to switch between the position control mode and the speed control mode from
an external contact. Relationships between LOP-SG status and control modes are indicated below:
(Note) LOP
Servo Control Mode
0
Position control mode
1
Speed control mode
Note. 0: LOP-SG off (open)
1: LOP-SG on (short)
The control mode may be changed in the zero-speed status. To ensure safety, change control after the
servo motor has stopped. When position control mode is changed to speed control mode, droop pulses
are reset.
If the signal has been switched on-off at the speed higher than the zero speed and the speed is then
reduced to the zero speed or less, the control mode cannot be changed. A change timing chart is shown
below:
ON
OFF
ON
OFF
Position
control mode
Speed
control mode
Servo motor speed
Zero speed (ZSP)
Control change (LOP)
Zero speed
level
(Note)
Note: When ZSP is not on, control cannot be changed if LOP is switched on-off.
If ZSP switches on after that, control cannot not be changed.
(Note)
Position
control mode
(2) Torque limit in position control mode
As in Section 3.4.1 (2).
