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3. SIGNALS AND WIRING
3.6.4 Position/speed control change mode
Set " 1" in parameter No.PA01 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 and control modes are indicated below.
(Note) LOP Servo control mode
0 Position control mode
1 Speed control mode
Note. 0: off
1: on
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 LOP 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 detection (ZSP)
Control change (LOP)
Zero speed
level
(Note)(Note)
Position
control mode
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 (5).