CHAPTER 4 PARAMETER

4.2.2

Description of Each Parameter

PA1_01 Control mode selection

No.

Name

Setting range

Default

value

Change

01

Control mode

selection

0: Position 1: Speed

3: Position  speed

5: Speed  torque

7: Positioning operation

2: Torque

4: Position  torque

6: Extension mode

0

Power

Specify the desired control mode in the parameter with a value.

4

To switch during operation, change over the control mode selection of the CONT input signal.

For details, refer to the table below.

Reference value of PA1_01

(control mode selection)

Control mode

Control mode selection =

OFF

Control mode selection =

ON

0

Position control

1

Speed control

2

Torque control

3

Position control

Speed control

4

Position control

Torque control

5

Speed control

Torque control

6

Extension mode

7

Positioning operation mode

(1) If PA1_01 (control mode selection) is between 0 and 5

Change over the control mode selection (sequence input signal) to change the control mode even

during operation.

Position control can be made only during pulse operation and homing.

For the transition of the control mode, see the figure below.

Control mode switch

（36）：ON/OFF

Pulse oPpuelrsaetioopne,raHtoiomn ing

Position control

If the reference value is

between 3 and 5, you can

use CONT to switch even

during operation.

Control mode switch

（36）：ON/OFF

Speed control

Torque control

Analog speed command

operation

Manual operation

Multi-step speed operation

Torque control operation

Control mode switch （36）：ON/OFF

4-4 Basic Parameters