Mitsubishi Electric MELSERVO-JN Series, Инструкция по эксплуатации

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3. SIGNALS AND WIRING
3.6.4 Position/speed control change mode
Set parameter No. PA01 to " 1 " to switch to the position/internal speed control change mode.
(1) Control change (LOP)
By using the control change (LOP), control mode can be switched between the position control and the
internal speed control modes from an external contact. Relationships between LOP and control modes are
indicated below.
(Note) LOP Control mode
0 Position control mode
1 Internal speed control mode
Note. 0: off
1: on
The control mode may be switched in the zero speed status. To ensure safety, switch the control mode
after the servo motor has stopped. When the control mode is switched to the internal speed control mode
from the position control mode, droop pulses are cleared.
Even if the speed is decreased to the zero speed or below after switching LOP, the control mode cannot be
switched. A change timing chart is shown below.
Position
control mode
Internal speed
control mode
Position
control mode
Zero speed
level
(Note)
ON
OFF
ON
OFF
Control change (LOP)
Zero speed (ZSP)
Servo motor speed
(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 be changed.
(2) Torque limit in position control mode
As in section 3.6.1 (4).
(3) Speed setting in internal speed control mode
As in section 3.6.2 (1).
(4) Speed reached (SA)
As in section 3.6.2 (2).