CHAPTER 3 OPERATION

3.4.5 Mode Selection

The operation control mode can be changed with parameter settings shown below and control mode

switching signal.

PA1_01:Control mode

Control mode (function No.36)

selection

Control mode selection=OFF Control mode selection=ON

3

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.

Forcible push against the

mechanical system

Speed

[RDY]

Zero speed

Control mode

selection

ON

ON

OFF

OFF

Speed control

ON

Torque control

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.

3-12 Operation